Lateral control for autonomous lane keeping system on highways
- Authors
- Kang, Chang Mook; Lee, Jeehyung; Yi, Sung Gu; Jeon, Soo Jung; Son, Young Seop; Kim, Wonhee; Lee, Seung-Hi; Chung, Chung Choo
- Issue Date
- Dec-2015
- Publisher
- IEEE
- Keywords
- Advanced driver assistance system; Lane keeping system; Multi-rate system; Torque-overlay
- Citation
- ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings, pp.1728 - 1733
- Indexed
- SCOPUS
- Journal Title
- ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings
- Start Page
- 1728
- End Page
- 1733
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/143036
- DOI
- 10.1109/ICCAS.2015.7364643
- Abstract
- In this paper, we propose a lateral control scheme for autonomous lane keeping system on highways. Three main techniques are proposed, to improve the lane-keeping performance and and to reduce the ripple in the yaw rate on highways. First, we propose a virtual lane prediction method to cope with the momentary failure of lane detection. Second, we innovate an approach to steering wheel angle control based on torque overlay for the EPS of the LKS. Finally, the multi-rate lane-keeping control scheme is proposed to improve the lane-keeping performance and to reduce the ripple in the yaw rate. The performance of the proposed method was evaluated via experiments.
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