A comparative study of lane keeping system: Dynamic and kinematic models with look-ahead distance

Kang, Chang Mook; Lee, Seung-Hi; Chung, Chung Choo

doi:10.1109/IVS.2015.7225821

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A comparative study of lane keeping system: Dynamic and kinematic models with look-ahead distance

Kang, Chang Mook;
Lee, Seung-Hi;
Chung, Chung Choo

Citations

SCOPUS

15

초록

In this paper, we propose kinematic vehicle lateral motion model based lane keeping system considering look-ahead distance. The state-space model based on the kinematic vehicle lateral motion model is derived and we design the lane keeping system(LKS) based on the kinematic model. The kinematic model based LKS is robust against unknown vehicle parameters variation. Furthermore, to consider look-ahead distance in the kinematic vehicle lateral motion model, we designed output measurement matrix using clothoidal constraints. Hence, we can control the vehicle at look-ahead distance like human driver. Control performance of each model was validated via computational simulation results with CarSim and MAT-LAB/Simulink, and experimental results with electric power steering system equipped with an Autobox from dSPACE.

키워드

Automobile steering equipment; Electric power system control; Intelligent vehicle highway systems; State space methods; Vehicles; Comparative studies; Computational simulation; Control performance; Electric power steering system; Lane keeping system(lks); Measurement matrix; State - space models; Vehicle parameters; Kinematics

제목: A comparative study of lane keeping system: Dynamic and kinematic models with look-ahead distance

저자: Kang, Chang Mook; Lee, Seung-Hi; Chung, Chung Choo

DOI: 10.1109/IVS.2015.7225821

발행일: 2015-08

유형: Conference Paper

저널명: IEEE Intelligent Vehicles Symposium, Proceedings

페이지: 1038 ~ 1043