Direct Yaw-Moment Control Based on Lane Marker Detection 2006-01-1278
Various driver assistance systems have been developed for maintaining a vehicle in its lane. For example, systems that apply force to the steering gear to help the driver keep the vehicle in the center of its lane are becoming popular. On the other hand, direct yaw-moment control systems have been developed for use in stabilizing the vehicle in extremer conditions where loss of control is detected. This paper deals with a system for aiding drivers in recovering from lane departure and maintaining the vehicle in its lane by utilizing direct yaw-moment control. The system uses a CCD camera to recognize lane makers and detects lane departures based on the positional relationship between the vehicle and the lane. When a lane departure is detected, the system applies force to the wheels to generate a yaw moment in the vehicle, so that it turns towards the original lane. The system was implemented on a test vehicle and experiments were carried out to verify the effect of direct yaw-moment control on the vehicle and its effectiveness in mitigating lane departure speed. Results show that the proposed method is effective in aiding drivers in recovering from lane departures.