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Development of a lane departure monitoring and control system

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Abstract

The lane departure avoidance systems have been considered promising to assist human drivers in AVCS (Advanced Vehicle Control System). In this paper, a lane departure monitoring and control system is developed and evaluated in the hardware-in-the-loop simulations. This system consists of lane sensing, lane departure monitoring and active steering control subsystems. The road image is obtained based on a vision sensor and the lane parameters are estimated using image processing and Kalman Filter technique. The active steering controller for avoiding the lane departure is designed based on the lane departure metric. The proposed lane departure avoidance system is realized in a steering HILS (hardware-in-the-loop simulation) tool and its performance is evaluated with a driver in the loop.

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Abbreviations

α :

Distance to the front axle from CG

b :

Distance to the rear axle from CG

C αf andC αr :

Cornering stiffness of the front and rear tires

F yf andF yr :

Lateral tire force of the front and rear tires

h cg :

Height of center of gravity

I z :

Moment of inertia about thez axis

Κ :

LQR control gain

(l, w, h):

Camera origin in vehicle coordinate

m :

Vehicle mass

T :

Lookahead time

q y, qψ, qi, andq p :

Weighting factors

R c :

Camera rotation matrix considering the camera tile angle

R v :

Camera rotation matrix considering roll and pitch angle

r :

Yaw rate

(X c, Yc, Zc):

Camera coordinate

(X g, Yg, Zg):

Global coordinate

(X v, Yv, Zv):

Vehicle coordinate

(y, z):

Image coordinate

u :

longitudinal vehicle velocity

υ :

Lateral vehicle speed

α f andα r :

Tire slip angle of the front and rear tires

δ c :

Steering control input

δ c,fb :

Feedback steering control input

δ c,ff :

Feedforward steering control input

References

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Authors and Affiliations

  1. School of Mechanical Engineering, Hanyang University, 17 Haengdang-Dong, Sungdong-Ku, 133-791, Seoul, Korea

    Kunsoo Huh

  2. Department of Precision Mechanical Engineering, Hanyang University, 17 Haengdang-Dong, Sungdong-Ku, 133-791, Seoul, Korea

    Daegun Hong

  3. Department of Mechanical Engineering, University of Michigan, Ann Arbor, Michigan

    Jeffrey L. Stein

Authors
  1. Kunsoo Huh
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  2. Daegun Hong
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  3. Jeffrey L. Stein
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Correspondence to Kunsoo Huh.

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Huh, K., Hong, D. & Stein, J.L. Development of a lane departure monitoring and control system. J Mech Sci Technol 19, 1998–2006 (2005). https://doi.org/10.1007/BF02916492

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  • DOI: https://doi.org/10.1007/BF02916492

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