The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Dec. 19, 2023
Filed:
Sep. 29, 2021
Canoo Technologies Inc., Torrance, CA (US);
Kilsoo Kim, Redondo Beach, CA (US);
Jongmoo Choi, Gardena, CA (US);
Vishal U. Shanbhag, Torrance, CA (US);
Lung En Jan, Alhambra, CA (US);
Aviral K. Singh, Torrance, CA (US);
Paolo E. Pucci, Redondo Beach, CA (US);
Canoo Technologies Inc., Torrance, CA (US);
Abstract
A method includes identifying a path to be followed by an ego vehicle. The method also includes determining a desired yaw rate and a desired yaw acceleration for the ego vehicle based on the identified path. The method further includes determining a desired yaw moment for the ego vehicle based on the desired yaw rate and the desired yaw acceleration. In addition, the method includes distributing the desired yaw moment to multiple wheels of the ego vehicle such that the distributed desired yaw moment creates lateral movement of the ego vehicle during travel along the identified path. In some cases, the desired yaw rate and the desired yaw acceleration for the ego vehicle may be determined based on nonlinear kinematics of the ego vehicle, and the desired yaw moment for the ego vehicle may be determined based on a single-track dynamic model of the ego vehicle.