System and methods of integrating vehicle kinematics and dynamics for lateral control feature at autonomous driving
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United States of America Patent
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Feb 6, 2024
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N/A
app pub date -
Jul 13, 2021
filing date -
Jul 13, 2021
priority date (Note) -
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Abstract
An apparatus includes at least one camera configured to capture an image of a traffic lane in front of a vehicle. The apparatus also includes 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, determine a yaw rate maintaining the vehicle within the traffic lane using a kinematics control, determine a steering angle maintaining the vehicle within the traffic lane using a dynamics control and the yaw rate determined by the kinematics control, and activate a steering control based on the determined steering angle.
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