US 11,891,059 B2
System and methods of integrating vehicle kinematics and dynamics for lateral control feature at autonomous driving
Kilsoo Kim, Hermosa Beach, CA (US); Aviral Singh, Torrance, CA (US); and David R. Arft, Torrance, CA (US)
Assigned to Canoo Technologies Inc., Torrance, CA (US)
Filed by Canoo Technologies Inc., Torrance, CA (US)
Filed on Jul. 13, 2021, as Appl. No. 17/305,703.
Prior Publication US 2023/0026680 A1, Jan. 26, 2023
Int. Cl. B60W 30/12 (2020.01); B60W 40/072 (2012.01); B60W 40/105 (2012.01); B60W 10/18 (2012.01); B60W 10/20 (2006.01); G06V 20/56 (2022.01)
CPC B60W 30/12 (2013.01) [B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 40/072 (2013.01); B60W 40/105 (2013.01); G06V 20/588 (2022.01); B60W 2520/14 (2013.01); B60W 2552/30 (2020.02); B60W 2710/207 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An apparatus, comprising:
at least one camera configured to capture an image of a traffic lane in front of a vehicle; and
a path tracking controller configured to:
detect lane boundaries and a path curvature for the traffic lane from the image,
determine 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, determine 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, determine a steering angle that will maintain vehicle within the traffic lane, and
activate a steering control based on the determined steering angle.