# US 12,759,559 B2 · Controlling vehicle using vehicle curvature and heading angle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,759,559 B2 - Document ID: US12759559B2 - Status: Granted - Kind: B2 - Application number: 18/355,969 - Filed: 2023-07-20 - Published: 2025-01-23 - Granted: 2026-10-13 - Earliest claimed: 2023-07-20 - Assignees: Atieva, Inc. - Applicants: Atieva, Inc. - Inventors: Tony X. Zhou; Fei Zhu; Renyuan Zhang; Qiang Lu; Mohannad Murad; Jinwoo Lee - Web page: https://patentgrep.com/patent/US12759559B2 ## CPC - B60W 40/072: Curvature of the road - B60W 60/001: {Planning or execution of driving tasks} - B60W 2552/53: Road markings, e.g. lane marker or crosswalk - B60W 2556/50: of positioning data, e.g. GPS [Global Positioning System] data - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT ## Abstract A method comprises: determining that a vehicle is at a first location; controlling motion of the vehicle using an advanced driver assistance system (ADAS); determining a second location for the vehicle based on lane sensing information of a lane monitoring system of the vehicle and a first travel distance of the vehicle since the first location, the lane sensing information reflecting a lane curvature; determining a third location for the vehicle based on a heading angle of the vehicle and a second travel distance of the vehicle since the first location; determining a fourth location for the vehicle by fusing the second and third locations with each other; and controlling the motion of the vehicle using the ADAS based on the fourth location. ## Claims ### Claim 1 A method comprising: determining that a vehicle is at a first location; controlling motion of the vehicle using an advanced driver assistance system (ADAS); determining a second location for the vehicle based on lane sensing information of a lane monitoring system of the vehicle and a first travel distance of the vehicle since the first location, the lane sensing information reflecting a lane curvature; determining a third location for the vehicle based on a heading angle of the vehicle and a second travel distance of the vehicle since the first location, wherein the determining the third location further includes determining a vehicle curvature at an end of the second travel distance; determining a fourth location for the vehicle by fusing the second and third locations with each other; and controlling the motion of the vehicle using the ADAS based on the fourth location. ### Claim 2 (depends on 1) The method of claim 1, wherein determining that the vehicle is at the first location comprises receiving, by a satellite signal having at least a threshold signal strength, satellite navigation information indicating that the vehicle is at the first location, the method further comprising performing a first detection that the satellite signal no longer has the threshold signal strength, wherein the ADAS is configured to determine the second, third, and fourth locations in response to the first detection. ### Claim 3 (depends on 2) The method of claim 2, wherein the satellite navigation information is generated by a global navigation satellite system. ### Claim 4 (depends on 2) The method of claim 2, wherein the first detection comprises determining that the satellite navigation information contains information from less than a threshold number of satellites. ### Claim 5 (depends on 2) The method of claim 2, wherein the satellite navigation information that indicates the vehicle being at the first location is a most recent satellite navigation information when the satellite signal no longer has the threshold signal strength. ### Claim 6 (depends on 2) The method of claim 2, further comprising: performing, after controlling the motion of the vehicle using the ADAS based on the fourth location, a second detection that the satellite signal again has the threshold signal strength; and in response to the second detection, again controlling the motion of the vehicle using the ADAS based on the satellite navigation information. ### Claim 7 (depends on 1) The method of claim 1, further comprising performing localization of the vehicle based on the fourth location and map information. ### Claim 8 (depends on 7) The method of claim 7, further comprising performing global position alignment with regard to the vehicle based on the localization. ### Claim 9 (depends on 8) The method of claim 8, wherein the global position alignment is performed using a standard definition map. ### Claim 10 (depends on 1) The method of claim 1, wherein the lane sensing information reflects a distance between the vehicle and a lane marker. ### Claim 11 (depends on 1) The method of claim 1, wherein multiple travel segments are determined, wherein a corresponding vehicle curvature is determined for each of the multiple travel segments, and wherein the vehicle is controlled based on aggregating distances that are based on the multiple travel segments and the corresponding vehicle curvatures. ### Claim 12 (depends on 11) The method of claim 11, wherein aggregating the distances comprises: determining a sum of longitudinal distances using a first formula, wherein the first formula uses as inputs the multiple travel segments, the corresponding vehicle curvatures, and a longitudinal coordinate of the first location; determining a sum of transverse distances using a second formula, wherein the second formula uses as inputs the multiple travel segments, the corresponding vehicle curvatures, and a transverse coordinate of the first location; and associating the sum of longitudinal distances and the sum of transverse distances with each other. ### Claim 13 (depends on 1) The method of claim 1, wherein multiple travel segments are determined, wherein a corresponding heading angle is determined for each of the multiple travel segments, and wherein the third location is determined based on the multiple travel segments and the corresponding heading angles. ### Claim 14 (depends on 13) The method of claim 13, wherein determining the third location comprises: determining a longitudinal coordinate using a first formula wherein the first formula uses as inputs the multiple travel segments, the corresponding heading angles, and a longitudinal coordinate of the first location; determining a transverse coordinate using a second formula, wherein the second formula uses as inputs the multiple travel segments, the corresponding heading angles, and a transverse coordinate of the first location; and associating the longitudinal coordinate and the transverse coordinate with each other. ### Claim 15 (depends on 1) The method of claim 1, wherein determining the third location comprises compensating the second location using the lane sensing information. ### Claim 16 (depends on 1) The method of claim 1, wherein the first travel distance is identical to the second travel distance. ### Claim 17 (depends on 16) The method of claim 16, wherein the second and third locations are determined in a common sampling cycle of the ADAS. ### Claim 18 (depends on 1) The method of claim 1, wherein fusing the second and third locations with each other comprises calculating an average of the second and third locations. ### Claim 19 (depends on 1) The method of claim 1, wherein fusing the second and third locations with each other comprises weighting at least one of the second or third locations in determining the fourth location. ### Claim 20 (depends on 1) The method of claim 1, wherein at least the second, third and fourth locations are determined with regard to a center of gravity of the vehicle. ### Claim 21 A non-transitory computer readable medium storing instructions that when executed by at least one processor cause operations to be performed, the operations comprising: determining that a vehicle is at a first location; controlling motion of the vehicle using an advanced driver assistance system (ADAS); determining a second location for the vehicle based on lane sensing information of a lane monitoring system of the vehicle and a first travel distance of the vehicle since the first location, the lane sensing information reflecting a lane curvature; determining a third location for the vehicle based on a heading angle of the vehicle and a second travel distance of the vehicle since the first location, wherein the determining the third location further includes determining a vehicle curvature at an end of the second travel distance; determining a fourth location for the vehicle by fusing the second and third locations with each other; and controlling the motion of the vehicle using the ADAS based on the fourth location. ### Claim 22 A vehicle comprising: an advanced driver assistance system (ADAS) configured to control motion of the vehicle, the ADAS including i) a lane monitoring system configured to generate lane sensing information reflecting a lane curvature, and ii) a heading angle monitor configured to determine a heading angle of the vehicle; and a speed sensor configured to determine a first travel distance of the vehicle since a first location and a second travel distance of the vehicle since the first location; wherein the ADAS is configured to i) determine a second location for the vehicle based on the lane sensing information and the first travel distance, ii) determine a third location for the vehicle based on the heading angle and the second travel distance, including determining a vehicle curvature at an end of the second travel distance, (iii) determine a fourth location for the vehicle by fusing the second and third locations with each other, and iv) control the motion of the vehicle based on the fourth location. ### Claim 23 (depends on 22) The vehicle of claim 22, further comprising a satellite receiver configured to receive a satellite signal having at least a threshold signal strength, the satellite signal including satellite navigation information indicating that the vehicle is at the first location, and wherein the ADAS is configured to determine the second, third, and fourth locations in response to a detection that that satellite signal no longer has the threshold signal strength. ### Claim 24 (depends on 22) The vehicle of claim 22, wherein the first travel distance is identical to the second travel distance, and wherein the second and third locations are determined in a common sampling cycle of the ADAS.