| DEVELOPMENT OF THE LANE KEEPING CONTROL SYSTEM USING STATE-VARYING SURFACE FOR VULNERABLE ROAD USERS |
| Taewan Kang1, Dooyong Kim1, Minwoo Soh1, Hyeongjun Jang1, Hwan Seong Jo5, Kihong Park6 |
1Kookmin University
5Hyundai Mobis Co.
6Ltd. |
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| ABSTRACT |
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This paper proposes a new Lane Keeping Assist (LKA) system based on the integrated control strategy with AFS and BTV. To be specific, the steering controller calculates the gear ratio of AFS to align with the target lane whereas the braking controller determines differential brake pressure using Sliding Mode Control (SMC) theory according to the statevarying sliding surface with Fuzzy model. In recent years, auto industries have produced the lane keeping applications to prevent lane departure caused by drivers’ distractions or drowsiness. To also prevent wrist injury in drivers while steering, current LKA systems limit the output values of steering-wheel assist torque. This limiting mechanism, however, can cause a problem that cannot follow a road curvature when an older driver overexerts an inappropriate control effort. A new LKA system of the AFS and BTV integrated controller has since been drafted to solve this problem, and validated its performance in regards to the test conditions given with various driver models. |
| Key Words:
Lane Keeping Assist (LKA), Integrated control, Fuzzy model, Sliding Mode Control (SMC), Active Front Steering (AFS), Brake Torque Vectoring (BTV) |
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