Development of a Model Based Predictive Controller for Lane Keeping Assistance

Document Number: 2008-01-1454

Date Published: April 2008

Author(s):
Kunsoo Huh - Hanyang Univ.
Junyeon Hwang - Hanyang Univ.
Hyuck-min Na - Mando Corp.
Ho Gi Jung - Mando Corp.
Hyung-Jin Kang - Mando Corp.
Pal-Joo Yoon - Mando Corp.

Abstract:
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.

File Size: 306K
Product Status: In Stock

See other papers presented at SAE World Congress & Exhibition, April 2008, Detroit, MI, USA, Session: Vehicle System Models and Controls

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