Hwang, J., Huh, K., Na, H., Jung, H. et al., "Development of a Model Based Predictive Controller for Lane Keeping Assistance," SAE Technical Paper 2008-01-1454, 2008, doi:10.4271/2008-01-1454.
Lane keeping assistant system (LKAS) is expected to reduce the driver workload with assisting the driver during driving and is regarded as a promising active safety system. For the proposed LKAS which requires cooperative driving between driver and the assistance system, a Model Based Predictive Controller (MBPC) is proposed to minimize the effect of system overshoot caused by the time delay from the vision-based lane detection system. In order to validate the proposed LKAS controller, a HIL (Hardware In the Loop) simulator is built using steering mechanism, single camera, torque motor, sensors, etc. The performance of the proposed system is demonstrated in various roadways.