Application of real-time simulation to the lane-keeping system

We develop a “lane-keeping” system, which avoids lane excursion when a driver swerves out of his lane unintentionally, such as changing lanes, under the Advanced Safety Vehicle (ASV) project. There existed many technical difficulties, such as the safe guarantee of vehicle driving tests, the control parameter setting for an automatic steering actuator, etc., during the process of developing the “lane-keeping” system. This paper shows that our newly developed real-time simulation technique solves these difficulties and makes it easy to optimize the control parameters and its performance in a short period of time. We also show that the real-time simulation technique assures the stability of the vehicle behavior at high speed driving (120 km/h)