diff --git a/CHANGELOG.md b/CHANGELOG.md
index afb7ea8bb..574d1003c 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,6 +1,9 @@
 ## Latest
 
-  * Added native Ackermann controller
+  * Added native ackermann controller:
+    - `apply_ackermann_control`:  to apply an ackermann control command to a vehicle
+    - `get_ackermann_controller_settings`: to get the last ackermann controller settings applied
+    - `apply_ackermann_controller_settings`: to apply new ackermann controller settings
   * Fixed bug causing the Traffic Manager to not be deterministic when using hybrid mode
   * Added support for N wheeled vehicles