Transversal Controller Parameterization for Vehicle Lane Keeping

The patent applies parameter changes by adapting the transversal controller parameterization based on vehicle velocity and road curvature. Multiple parameter sets are defined for different velocity ranges and road classes, and the appropriate parameters are selected dynamically. This resolves the contradiction by systematically managing parameter variations through structured gain scheduling, improving reliability while keeping the complexity manageable through organized parameter selection based on operating conditions.

The patent implements dynamics by making the controller parameterization adaptive to changing vehicle velocity and road curvature conditions. The system dynamically switches between different parameter sets based on current operating conditions, transforming a static controller into a dynamic one that automatically adjusts to maintain optimal performance across varying scenarios.

The patent extends parameter changes to include road class and curvature dependencies. Different parameter sets are defined for different road classes (e.g., highways, country roads, urban streets) and curvature conditions. The system selects appropriate parameters based on the detected road class and curvature, improving adaptability while managing complexity through systematic parameter organization and selection rules.

The patent applies segmentation by dividing the operating space into distinct segments based on road class categories and curvature ranges. Each segment has its own optimized parameter set, allowing the controller to adapt to specific road conditions without requiring a completely different control strategy for each scenario. This segmented approach improves adaptability while keeping the overall system complexity manageable through modular parameter management.