Development of the Lane Keeping Control System Using State-Varying Surface for Vulnerable Road Users

  • Taewan Kang
  • Dooyong Kim
  • Minwoo Soh
  • Hyeongjun Jang
  • Hwan Seong Jo
  • Kihong Park


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 state-varying 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) 



front steer angle of vehicle, deg


yaw moment at c.g., Nm


lateral distance of c.g. from centerline, m


orientation error of vehicle yaw angle from lane, deg


radius of road, m


preiview distance, m


yaw angle of vehicle, deg


yaw rate of vehicle, deg/s


velocity of vehicle, m/s


longitudinal velocity of vehicle, m/s


vehicle mass, kg


distance from c.g. to front axle, m


distance from c.g. to rear axle, m


cornering stiffness of front tire, N/rad


cornering stiffness of rear tire, N/rad


lateral force of front tire, N


lateral force of rear tire, N


yaw inertia of vehicle, kgm2


steering gear ratio


distance from right wheel to left wheel, m


unit conversion factor from force to pressure


brake pressure rear right wheel, MPa


brake pressure rear left wheel, MPa


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Copyright information

© The Korean Society of Automotive Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  • Taewan Kang
    • 1
  • Dooyong Kim
    • 1
  • Minwoo Soh
    • 1
  • Hyeongjun Jang
    • 1
  • Hwan Seong Jo
    • 2
  • Kihong Park
    • 3
  1. 1.Graduate School of Automotive EngineeringKookmin UniversitySeoulKorea
  2. 2.Active Safety Control Engineering TeamHyundai Mobis Co., Ltd.GyeonggiKorea
  3. 3.Department of Automotive & IT ConvergenceKookmin UniversitySeoulKorea

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