차량 횡방향 운동학 모델 기반 차선 유지 시스템

Abstract

In this paper, we propose kinematic vehicle lateral motion model based lane keeping system considering look-ahead distance. We design kinematic vehicle lateral motion model based state-space model. The lane keeping controller based on the kinematic model was derived. In addition, output measurement matrix using clothoidal constraints was designed to consider look-ahead distance in the kinematic vehicle lateral motion model. Control performance of model was validated via experimental results with electric power steering system equipped with an Autobox from dSPACE