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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