Patent ID: 11891059
Assignee: CANOO TECHNOLOGIES INC.
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 2:
3. The apparatus according to claim 2, wherein the determined steering angle is derived from:

{dot over (χ)}=Aχ+B1u+B2ωd+B3 sin(ϕ),, where {dot over (χ)} is the first derivative of χ=[e1 ė1 e2 ė2], e1=r is the lateral offset of the vehicle, ė1 is the first derivative of e1, e2 is a relative yaw angle of the vehicle, ė2 is the first derivative of e2, and A, B1, B2 and B3 are parameters determined by one of pole placement or linear-quadratic regulation.