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Lateral Control for Autonomous Lane Keeping System on Highways

Title
Lateral Control for Autonomous Lane Keeping System on Highways
Author
정정주
Keywords
Advanced driver assistance system; Lane keeping system; Multi-rate system; Torque-overlay
Issue Date
2015-10
Publisher
IEEE
Citation
201S 1Sth International Conference on Control, Automation and Systems (ICCAS 20 IS) Oct. 13-16, 201S in BEXCO, Busan, Korea, Page. 1728-1733
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.
URI
http://ieeexplore.ieee.org/document/7364643/http://hdl.handle.net/20.500.11754/28225
ISBN
978-8-9932-1508-3
ISSN
2093-7121
DOI
10.1109/ICCAS.2015.7364643
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > ELECTRICAL AND BIOMEDICAL ENGINEERING(전기·생체공학부) > Articles
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