Transactions of the Korean Society of Automotive Engineers (한국자동차공학회논문집)

The Korean Society of Automotive Engineers (한국자동차공학회)
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Development of a Model Based Predictive Controller for Lane Keeping Assistance System

모델기반 예측 제어기를 이용한 차선유지 보조 시스템 개발

  • 황준연 (한양대학교 자동차공학과) ;
  • 허건수 (한양대학교 자동차공학과) ;
  • 나혁민 (만도 중앙연구소 전자선행팀) ;
  • 정호기 (만도 중앙연구소 전자선행팀) ;
  • 강형진 (만도 중앙연구소 전자선행팀) ;
  • 윤팔주 (만도 중앙연구소 전자선행팀)
  • Published : 2009.05.01
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Abstract

Lane keeping assistant system (LKAS) could save thousands of lives each year by maintaining lane position and is regarded as a promising active safety system. The LKAS is expected to reduce the driver workload and to assist the driver during driving. This paper proposes a model based predictive controller for the LKAS which requires cooperative driving between the driver and the assistance system. A Hardware-In-the-Loop-Simulator (HILS) is constructed for its evaluation and includes Carsim, Matlab Simulink and a lane detection algorithm. The single camera is mounted with the HILS to acquire the monitor images and to detect the lane markers. The simulation is conducted to validate the LKAS control performance in various road scenario.

Keywords

References

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