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

Claim 1:
2. The apparatus according to claim 1, wherein the yaw rate ωd maintaining the vehicle within the traffic lane is determined from:, ω
    d
   
   =
   
    
     η
     
      v
      ⁢
        
      
       cos
       ⁡
       (
       θ
       )
      
     
    
    +
    
     
      v
      ⁢
      κ
      ⁢
        
      
       cos
       ⁡
       (
       θ
       )
      
     
     
      1
      -
      
       κ
       ⁢
       r
      
     
    
   
  
  ,, where v is the vehicle forward velocity, θ is the relative course angle based on the heading offset for the vehicle, κ is the path curvature, r is the lateral offset of the vehicle, and η is the feedback from the dynamics control.