모델기반 예측 제어기를 이용한 차선유지 보조 시스템 개발

Abstract

Lane keeping assistant system (LKAS) could save thousands of lives each year by maintaining lane position and is regarded as a promising active safety system. The LKAS is expected to reduce the driver workload and to assist the driver during driving. This paper proposes a model based predictive controller for the LKAS which requires cooperative driving between the driver and the assistance system. A Hardware-In-the-Loop-Simulator (HILS) is constructed for its evaluation and includes Carsim, Matlab Simulink and a lane detection algorithm. The single camera is mounted with the HILS to acquire the monitor images and to detect the lane markers. The simulation is conducted to validate the LKAS control performance in various road scenario.