Vehicle Lateral Control Modulation Weighting

The patent applies different weighting values to different sections of the lane model based on their reliability. Specifically, lane model sections with higher reliability (e.g., those with more detected lane markers) are assigned higher weights, while less reliable sections receive lower weights. This local differentiation of quality resolves the contradiction by improving accuracy through selective weighting without requiring complete recalculation of the entire system, thus managing complexity.

The patent dynamically adjusts the weighting parameters of the lane model based on detected conditions such as lane marker visibility, curvature, and detection confidence. By changing these parameters adaptively rather than using fixed uniform weights, the system achieves higher fitting accuracy while maintaining computational efficiency through parameter optimization rather than structural complexity.

The patent implements dynamic adjustment of steering control force based on the magnitude of lane deviation and the rate of change of deviation. When deviation is small, the control force is applied gradually; when deviation is large, stronger correction is applied but with smooth transition. This dynamic approach allows the system to respond quickly to significant deviations while maintaining driver comfort through adaptive force modulation rather than fixed rapid correction.

The patent applies steering control force in a periodic or phased manner rather than as a single sudden input. The control system continuously monitors lane position and applies incremental steering corrections over multiple control cycles, allowing the vehicle to return to the lane center smoothly. This periodic action resolves the contradiction by achieving correction speed through sustained control rather than instantaneous force.

The patent adjusts the target position parameters dynamically based on detected lane conditions, vehicle speed, and driver behavior patterns. Rather than maintaining a fixed reference keeping position, the system modifies these parameters adaptively to account for varying lane markings, curvature, and driver preferences. This resolves the contradiction by maintaining high accuracy through precise positioning while preserving adaptability through parameter flexibility.

The patent incorporates feedback mechanisms that continuously monitor lane detection quality, vehicle response, and driver inputs. Based on this feedback, the system adjusts the reference keeping position and weighting parameters to optimize both accuracy and adaptability. When lane conditions are clear, the system follows the lane center precisely; when conditions are ambiguous or driver input suggests alternative positioning, the system adapts accordingly.