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Integration and Implementation of a Lane Keeping System with Vehicle Dynamics Control (應用於車輛動態控制之車道維持系統整合與實現)
  • 發布年度:2017
  • 主要類別:駕駛輔助
  • 次要類別:論文
  • 本論文本文中描述車道維持系統之實現方法,並根據車輛運動學定義車輛動態操作模型,且以此模型來控制車輛執行車道維持功能之運動姿態,同時並探討不同預視距離對於車輛側向控制之影響,經實驗結果使用預視距離之側向誤差資訊來進行側向控制,其對於車輛軌跡修正與動態反應可獲得較佳的效果,且滿足ISO11270規範對於車道維持系統執行時之車輛動態之要求。

    Abstract— 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. Finally, 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.


    Keywords—Lane keeping system; preview control; trajectory prediction; advanced driver assistance system