The key technologies of lane following system (LFS) include the lane recognition, lane model construction, system identification, lane following control algorithm, and active steering control algorithm. The LFS is designed to keep the vehicle in the lane center automatically. The lane model is used to calculate the relationships between vehicle and lane that to be the control input, and the frequency response of the dynamic model of the control plant is used to design the desired gain margin and phase margin of LFS. Therefore the controller can generate the steering command to the EPS system. Finally the vehicle will track the desired path by the steering command calculated from LFS controller.

Second order polynomial lane model
Lane information update rate ≥ 20 Hz
Radius of curve ≥ 200 m
Vehicle speed: 0 ~ 120 kph
Operational limits: lateral acceleration ≤ 0.3 g, longitudinal deceleration ≤ 0.3 g

The LFS can be used in vehicles equipped with EPS system which integrates active steering control function.

Domestic manufacturers have established lane departure warning (LDW) and EPS technologies. The key technologies of LFS developed by ARTC, such as system integration, road model construction, system identification, system control logic design, can make the companies have capabilities of system integration and upgrade their products to active safety systems to improve competitiveness.