Lane keeping assistant system (LKAS) is expected to reduce the driver workload with assisting the driver during driving and is regarded as a promising active safety system. For the proposed LKAS which requires cooperative driving between driver and the assistance system, a Model Based Predictive Controller (MBPC) is proposed to minimize the effect of system overshoot caused by the time delay from the vision-based lane detection system. In order to validate the proposed LKAS controller, a HIL (Hardware In the Loop) simulator is built using steering mechanism, single camera, torque motor, sensors, etc. The performance of the proposed system is demonstrated in various roadways.


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    Title :

    Development of a Model Based Predictive Controller for Lane Keeping Assistance


    Additional title:

    Sae Technical Papers


    Contributors:
    Jung, Hogi (author) / Na, Hyukmin (author) / Kang, Hyungjin (author) / Hwang, Junyeon (author) / Huh, Kunsoo (author) / Yoon, Paljoo (author)

    Conference:

    SAE World Congress & Exhibition ; 2008



    Publication date :

    2008-04-14




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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