상세 보기
초록
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.
키워드
Active safety systems; Torque motors; Assistance system; Cooperative driving; Driver workload; Hard-ware-in-the-loop; Lane detection; Lane keeping assistants; Model-based predictive controller; Steering mechanisms; Controllers
- 제목
- Development of a model based predictive controller for lane keeping assistance
- 저자
- Hwang, Junyeon; Huh, Kun Soo; Na, Hyukmin; Jung, Hogi; Kang, Hyungjin; Yoon, Paljoo
- 발행일
- 2008-04
- 유형
- Conference Paper
- 페이지
- 1 ~ 8