Integration and implementation of a lane keeping system with vehicle dynamics control

摘要

The vehicle dynamics caused by vehicular motion control system is an important issue related to the human factor in the advanced driver assist system (ADAS) or autonomous driving system (ADS). A lane keeping system (LKS), one of the ADAS, is the lateral control application which uses the electric power steering (EPS) system to keep the vehicle driven in a lane while the vehicle drifts towards an unintentional lane departure and reaches the condition of the time to lane crossing. In this paper, an executing method used to achieve the LKS function in a field testing vehicle will be clearly described. The lane detection system and electric power steering system with the active steering function are also integrated with LKS. The paper also defines the limiting operating behavior of the steering motion according to the vehicle dynamic parameters in order to meet the requirements of the vehicle dynamics in ISO11270. Linally, the LKS algorithm will be achieved in two different preview conditions, one is constant preview time and the other is look-down, and performed in a field testing vehicle to verify the function of the steering operating limitations, the experimental results show that the proposed algorithm can keep the vehicle in the lane and the vehicular dynamics also meet the requirement of ISO11270 standard.