A Feedforward Controller Design for Lane Keep Assist Through Differential Braking Force

  • Hironori ItoEmail author
  • Akira NagaeEmail author
  • Masayuki IkedaEmail author
  • Ryo InomataEmail author
Conference paper
Part of the Lecture Notes in Mechanical Engineering book series (LNME)


This paper proposes a control design method for Lane Keep Assist (LKA) systems though differential braking force. By obtaining the time response to equation of motion for a two-wheeled model and simplifying the exponential term, it was determined that yaw rate and yaw moment are proportional to each other. Subject to the ignored terms in order to simplify the equation, we cover an unfollowed handling as well. As the result of the simplification, it demonstrates a control method to achieve any target trajectory. The results of simulations and experiments also verify the effectiveness of this method. Within the vehicle parameters we also focus on tire cornering power to examine the differences between steering control and braking control.


LKA Vehicle dynamics Feedforward control Brake control 


  1. 1.
    Hayakawa, Y., et al.: Lane departure prevention with enhanced drivability. SAE (2008)Google Scholar
  2. 2.
    Abe, M.: Vehicle Handling Dynamics: Theory and Application. Butterworth-Heinemann, Oxford (2009)Google Scholar

Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Toyota Research Institute Advanced Development, Inc.TokyoJapan
  2. 2.Toyota Motor CorporationAichiJapan

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