Lane Keeping System Based on Electric Power Steering System

  • Hailin Zhang
  • Yugong Luo
  • Qingyun Jiang
  • Keqiang Li
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 194)


For integration issues between Electric Power Steering System and Lane Keeping System, a Lane Keeping coordinated control method combining time to lane cross and judgment of driver’s operating behavior has been proposed. Lane Keeping System model, Magic Formula Tire model, 7-DOF vehicle model and EPS model were built based on theoretical analysis. Then Hardware-in-the-Loop experiment was done on EPS bench. Simulation and Hardware-in-the-Loop experiment results show that Lane Keeping coordinated control method can solve coordinated problems between conventional power steering component and lane keeping executive component, and can keep the vehicle in the lane, thus ensure the safety of the vehicle while driving.


Lane keeping Coordinated control Hardware-in-the-loop Vehicle model EPS 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Hailin Zhang
    • 1
  • Yugong Luo
    • 1
  • Qingyun Jiang
    • 1
  • Keqiang Li
    • 1
  1. 1.State Key Lab of Automotive Safety and EnergyTsinghua UniversityBeijingChina

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