Patent ID: 11891060
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 vehicle behavior prediction controller is configured to determine the rate of departure Vdepart from:

Vdepart=v·sin(θ)+cl·{dot over (θ)},, where v is a speed of the vehicle, θ is a heading offset for the vehicle, {dot over (θ)} is a first derivative of θwith respect to traveled distance, cl is a length of the vehicle, v·sin(θ) represents effect of road curvature on lane departure for a first range of radii of curvature, and cl·{dot over (θ)} represents effect of road curvature on lane departure for a second range of radii of curvature.