Robust control for automated lane keeping against lateral disturbance

This paper addresses automatic lane keeping of a road vehicle under external disturbances such as road banks and crosswinds. A technique to observe the external forces acting on the vehicle due to the disturbances was developed and the steering was controlled to compensate for the changes of the external forces. The effectiveness of the disturbance compensation algorithm was verified by a real vehicle test in which the vehicle underwent a rapid change in gravitational force. The test results are reported with a description of the total design of the control system