A Comparative Study of Lane Keeping System : Dynamic and Kinematic Models with Look-ahead Distance
- Title
- A Comparative Study of Lane Keeping System : Dynamic and Kinematic Models with Look-ahead Distance
- Author
- 정정주
- Keywords
- Vehicles; Kinematics; Dynamics; Computational modeling; Vehicle dynamics; Mathematical model; Roads
- Issue Date
- 2015-06
- Publisher
- IEEE
- Citation
- Intelligent Vehicles Symposium (IV), 2015 IEEE , Page. 1-6
- Abstract
- In this paper, we propose kinematic vehicle lateral motion model based lane keeping system considering look-ahead distance. The state-space model based on the kinematic vehicle lateral motion model is derived and we design the lane keeping system(LKS) based on the kinematic model. The kinematic model based LKS is robust against unknown vehicle parameters variation. Furthermore, to consider look-ahead distance in the kinematic vehicle lateral motion model, we designed output measurement matrix using clothoidal constraints. Hence, we can control the vehicle at look-ahead distance like human driver. Control performance of each model was validated via computational simulation results with CarSim and MAT-LAB/Simulink, and experimental results with electric power steering system equipped with an Autobox from dSPACE.
- URI
- http://ieeexplore.ieee.org/document/7225821/http://hdl.handle.net/20.500.11754/25155
- ISBN
- 978-1-4673-7266-4
- ISSN
- 1931-0587
- DOI
- 10.1109/IVS.2015.7225821
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > ELECTRICAL AND BIOMEDICAL ENGINEERING(전기·생체공학부) > Articles
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