Abstract
In this paper, the design of steering torque controller for lane keeping assistance system and the experimental results of field operating test are presented. The control system dynamics including vehicle-to-road relationship and steering system is modeled by system identification procedure based on experimental data. This paper is mainly focused on optimal control law for the desired steering torque to support driver’s lane keeping maneuver by linear quadratic control theory. Moreover, nonlinear characteristic of vehicle lateral motion by variant vehicle speed has been compromised by control gain scheduling methodology. Field operating test is conducted on a proving ground having straight and curved sections to confirm the performance and improve the interaction between human driver and controlled system.
KEYWORDS – Lane Keeping Assistance System, Steering Torque Control, Optimal Control, Lane Departure Warning, Lane Keeping, Driver Assistance System