Lane Keeping System Based on Kinematic Model with Road Friction Coefficient Adaptatio

Abstract

It is known that the kinematic model based motion control is robust against unknown vehicle parameters variation. Recently we reported that lane keeping system (LKS) with look-ahead distance using the kinematic vehicle lateral motion model is feasible and its performance is compatible with a dynamic vehicle lateral motion model using look-ahead distance under a limited condition in highway driving. In this paper, we developed a kinematic vehicle motion model with road friction coefficient estimation. The adaptive kinematic vehicle motion based lateral controller requires no complex tuning process. The proposed method provides improved LKS performance over the previous method. Control performance of model was validated via computational simulation results with CarSim and MATLAB/Simulink.