Development of the Lane Keeping Control System Using State-Varying Surface for Vulnerable Road Users

This paper proposes a new Lane Keeping Assist (LKA) system based on the integrated control strategy with AFS and BTV. To be specific, the steering controller calculates the gear ratio of AFS to align with the target lane whereas the braking controller determines differential brake pressure using Sli...

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Bibliographic Details
Published in:International journal of automotive technology 2018-06, Vol.19 (3), p.489-498
Main Authors: Kang, Taewan, Kim, Dooyong, Soh, Minwoo, Jang, Hyeongjun, Jo, Hwan Seong, Park, Kihong
Format: Article
Language:English
Subjects:
Advanced driver assistance systems
Automotive Engineering
Braking
Control systems
Controllers
Drivers
Engineering
Gear ratios
Injury prevention
Lane changing
Lane keeping
Older people
Sliding mode control
Steering
Wrist
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Summary:This paper proposes a new Lane Keeping Assist (LKA) system based on the integrated control strategy with AFS and BTV. To be specific, the steering controller calculates the gear ratio of AFS to align with the target lane whereas the braking controller determines differential brake pressure using Sliding Mode Control (SMC) theory according to the state-varying sliding surface with Fuzzy model. In recent years, auto industries have produced the lane keeping applications to prevent lane departure caused by drivers’ distractions or drowsiness. To also prevent wrist injury in drivers while steering, current LKA systems limit the output values of steering-wheel assist torque. This limiting mechanism, however, can cause a problem that cannot follow a road curvature when an older driver overexerts an inappropriate control effort. A new LKA system of the AFS and BTV integrated controller has since been drafted to solve this problem, and validated its performance in regards to the test conditions given with various driver models.
ISSN:1229-9138
1976-3832
DOI:10.1007/s12239-018-0047-7