公开(公告)号：US20210122379A1

公开(公告)日：2021-04-29

申请号：US16664109

申请日：2019-10-25

Applicant: GM Global Technology Operations LLC

Inventor： Gabriel T. CHOI ,  Paul A. ADAM ,  Jeffrey S. PARKS ,  Lance A. SMITH

IPC: B60W40/114 ,  B60W30/12 ,  B60W40/072 ,  G05D1/02 ,  G05D1/00

Abstract: A control system for a vehicle using a forward-facing camera includes a look ahead module configured to determine a distance to a look ahead point. A lane center module determines a location of a lane center line. A vehicle center line module determines a location of a vehicle center line. A first lateral offset module determines a first lateral offset based on the look ahead point and the determined lane center line. A second lateral offset module determines a second lateral offset based on the determined lane center line and the vehicle center line. A yaw angle offset calculating module receives the first lateral offset, the second lateral offset and the distance to the look ahead point, calculates a yaw angle offset, and compensates a yaw angle error based on the yaw angle offset.