Lateral control for autonomous lane keeping system on highways

Chang Mook Kang, Jeehyung Lee, Sung Gu Yi, Soo Jung Jeon, Young Seop Son, Wonhee Kim, Seung Hi Lee, Choo Chung Chung

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

In this paper, we propose a lateral control scheme for autonomous lane keeping system on highways. Three main techniques are proposed, to improve the lane-keeping performance and and to reduce the ripple in the yaw rate on highways. First, we propose a virtual lane prediction method to cope with the momentary failure of lane detection. Second, we innovate an approach to steering wheel angle control based on torque overlay for the EPS of the LKS. Finally, the multi-rate lane-keeping control scheme is proposed to improve the lane-keeping performance and to reduce the ripple in the yaw rate. The performance of the proposed method was evaluated via experiments.

Original languageEnglish
Title of host publicationICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1728-1733
Number of pages6
ISBN (Electronic)9788993215090
DOIs
StatePublished - 2015 Dec 23
Event15th International Conference on Control, Automation and Systems, ICCAS 2015 - Busan, Korea, Republic of
Duration: 2015 Oct 132015 Oct 16

Publication series

NameICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings

Other

Other15th International Conference on Control, Automation and Systems, ICCAS 2015
CountryKorea, Republic of
CityBusan
Period15/10/1315/10/16

Fingerprint

Wheels
Torque
Experiments

Keywords

  • Advanced driver assistance system
  • Lane keeping system
  • Multi-rate system
  • Torque-overlay

Cite this

Kang, C. M., Lee, J., Yi, S. G., Jeon, S. J., Son, Y. S., Kim, W., ... Chung, C. C. (2015). Lateral control for autonomous lane keeping system on highways. In ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings (pp. 1728-1733). [7364643] (ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCAS.2015.7364643
Kang, Chang Mook ; Lee, Jeehyung ; Yi, Sung Gu ; Jeon, Soo Jung ; Son, Young Seop ; Kim, Wonhee ; Lee, Seung Hi ; Chung, Choo Chung. / Lateral control for autonomous lane keeping system on highways. ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 1728-1733 (ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings).
@inproceedings{2921a6df8f014fba9e4e4eb607acc3f0,
title = "Lateral control for autonomous lane keeping system on highways",
abstract = "In this paper, we propose a lateral control scheme for autonomous lane keeping system on highways. Three main techniques are proposed, to improve the lane-keeping performance and and to reduce the ripple in the yaw rate on highways. First, we propose a virtual lane prediction method to cope with the momentary failure of lane detection. Second, we innovate an approach to steering wheel angle control based on torque overlay for the EPS of the LKS. Finally, the multi-rate lane-keeping control scheme is proposed to improve the lane-keeping performance and to reduce the ripple in the yaw rate. The performance of the proposed method was evaluated via experiments.",
keywords = "Advanced driver assistance system, Lane keeping system, Multi-rate system, Torque-overlay",
author = "Kang, {Chang Mook} and Jeehyung Lee and Yi, {Sung Gu} and Jeon, {Soo Jung} and Son, {Young Seop} and Wonhee Kim and Lee, {Seung Hi} and Chung, {Choo Chung}",
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language = "English",
series = "ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
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Kang, CM, Lee, J, Yi, SG, Jeon, SJ, Son, YS, Kim, W, Lee, SH & Chung, CC 2015, Lateral control for autonomous lane keeping system on highways. in ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings., 7364643, ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings, Institute of Electrical and Electronics Engineers Inc., pp. 1728-1733, 15th International Conference on Control, Automation and Systems, ICCAS 2015, Busan, Korea, Republic of, 15/10/13. https://doi.org/10.1109/ICCAS.2015.7364643

Lateral control for autonomous lane keeping system on highways. / Kang, Chang Mook; Lee, Jeehyung; Yi, Sung Gu; Jeon, Soo Jung; Son, Young Seop; Kim, Wonhee; Lee, Seung Hi; Chung, Choo Chung.

ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings. Institute of Electrical and Electronics Engineers Inc., 2015. p. 1728-1733 7364643 (ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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T1 - Lateral control for autonomous lane keeping system on highways

AU - Kang, Chang Mook

AU - Lee, Jeehyung

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AU - Jeon, Soo Jung

AU - Son, Young Seop

AU - Kim, Wonhee

AU - Lee, Seung Hi

AU - Chung, Choo Chung

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N2 - In this paper, we propose a lateral control scheme for autonomous lane keeping system on highways. Three main techniques are proposed, to improve the lane-keeping performance and and to reduce the ripple in the yaw rate on highways. First, we propose a virtual lane prediction method to cope with the momentary failure of lane detection. Second, we innovate an approach to steering wheel angle control based on torque overlay for the EPS of the LKS. Finally, the multi-rate lane-keeping control scheme is proposed to improve the lane-keeping performance and to reduce the ripple in the yaw rate. The performance of the proposed method was evaluated via experiments.

AB - In this paper, we propose a lateral control scheme for autonomous lane keeping system on highways. Three main techniques are proposed, to improve the lane-keeping performance and and to reduce the ripple in the yaw rate on highways. First, we propose a virtual lane prediction method to cope with the momentary failure of lane detection. Second, we innovate an approach to steering wheel angle control based on torque overlay for the EPS of the LKS. Finally, the multi-rate lane-keeping control scheme is proposed to improve the lane-keeping performance and to reduce the ripple in the yaw rate. The performance of the proposed method was evaluated via experiments.

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KW - Lane keeping system

KW - Multi-rate system

KW - Torque-overlay

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Kang CM, Lee J, Yi SG, Jeon SJ, Son YS, Kim W et al. Lateral control for autonomous lane keeping system on highways. In ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings. Institute of Electrical and Electronics Engineers Inc. 2015. p. 1728-1733. 7364643. (ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings). https://doi.org/10.1109/ICCAS.2015.7364643