Title :
Lateral control for autonomous lane keeping system on highways
Author :
Chang Mook Kang;Jeehyung Lee;Sung Gu Yi;Soo Jung Jeon;Young Seop Son;Wonhee Kim;Seung-Hi Lee;Chung Choo Chung
Author_Institution :
Dept. of Electrical Engineering, Hanyang University, Seoul 133-791, Korea
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.
Keywords :
"Vehicles","Road transportation","Observers"
Conference_Titel :
Control, Automation and Systems (ICCAS), 2015 15th International Conference on
DOI :
10.1109/ICCAS.2015.7364643