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

Claim 10:
11. A method, comprising:
capturing an image of a traffic lane in front of a vehicle using at least one camera; and
detecting lane boundaries and a path curvature for the traffic lane from the image;
determining a lateral offset of the vehicle from a reference path for the traffic lane and a heading offset for the vehicle from the path curvature;
using a kinematics control, determining a yaw rate that will maintain the vehicle within the traffic lane based on one or more of a vehicle forward velocity, a relative course angle based on a heading offset for the vehicle, the path curvature, the lateral offset of the vehicle, or feedback from a dynamics control;
using the dynamics control and the yaw rate determined by the kinematics control, determining a steering angle that will maintain the vehicle within the traffic lane; and
activating a steering control based on the determined steering angle.