US 11,840,147 B2
System and method in data-driven vehicle dynamic modeling for path-planning and control
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. 17/305,702.
Prior Publication US 2023/0021802 A1, Jan. 26, 2023
Int. Cl. B60L 15/20 (2006.01); B60L 3/10 (2006.01); B60R 16/023 (2006.01); H04L 12/40 (2006.01)
CPC B60L 15/2036 (2013.01) [B60L 3/108 (2013.01); B60R 16/0232 (2013.01); H04L 12/40 (2013.01); B60L 2240/18 (2013.01); B60L 2240/22 (2013.01); B60L 2240/24 (2013.01); B60L 2240/46 (2013.01); B60Y 2200/91 (2013.01); H04L 2012/40215 (2013.01); H04L 2012/40273 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An apparatus, comprising:
a transceiver configured to receive signals from a controller area network (CAN) bus coupled to at least one device configured to capture motion information for at least one motion by an ego vehicle; and
an operation and motion controller configured to:
process the motion information relating to the at least one motion by the ego vehicle to determine lateral acceleration for the ego vehicle using a dynamic vehicle model, the dynamic vehicle model including a tire cornering stiffness adapted as a function of the determined lateral acceleration of the ego vehicle, and
activate a steering control with a braking or acceleration control based on the determined lateral acceleration of the ego vehicle,
wherein the tire cornering stiffness as the function of the determined lateral acceleration of the ego vehicle is a sigmoid function.