Patent ID: 11891060
Assignee: CANOO TECHNOLOGIES INC.
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 13:
14. The method according to claim 13, further comprising:
determining {dot over (θ)} from:, θ
    ˙
   
   =
   
    ω
    -
    
     
      v
      ⁢
      κ
      ⁢
         
      
       cos
       ⁡
       (
       θ
       )
      
     
     
      1
      -
      
       κ
       ⁢
       r
      
     
    
   
  
  ,, where ω is vehicle yaw rate, κ is the road curvature, and r is a lateral offset of the vehicle to a lane boundary.