• International Journal of Automotive Technology
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• v.5 no.2
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• pp.69-76
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• 2004

This paper evaluates the effectiveness of four-wheel-steering system from the viewpoint of lane-keeping control theory. In this paper, the lane-keeping control system is designed on the basis of the four-wheel-steering automobiles whose desired steering response is realized with the application of model matching control. Two types of desired steering responses are presented in this paper. One is zero-sideslip response, the other one is steering response which realizes zero-phase-delay of lateral acceleration. Using simplified linear two degree-of-freedom bicycle model, simulation study and theoretical analysis are conducted to evaluate the lane-keeping control performance of active four-wheel-steering automobiles which have different desired steering responses. Finally, the evaluation is conducted on straight and curved roadway tracking maneuvers.

• Journal of Auto-vehicle Safety Association
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• v.5 no.1
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• pp.69-74
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• 2013

LKAS(Lane Keeping Assistance System) main function is to support the driver in keeping the vehicle within the current lane. Therefore, this system is able to reduce the driver workload with assisting the driver during driving. In this paper, we presented on study for test procedures and evaluation methods of the LKAS. The vehicle test conducted on straight road, left curve, right curve and four different types of lane under various vehicle speeds. This study proposed the LKAS system test procedures and methods that we are able to identify LKAS driving mechanism and performance.

• Journal of Auto-vehicle Safety Association
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• v.6 no.2
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• pp.29-35
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• 2014

Lane Keeping Assistance System(LKAS) is a kind of Advanced Driver Assistance Systems(ADAS) which are developed to automate/ adapt/ enhance vehicle systems for safety and better driving. The main system function of LKAS is to support the driver in keeping the vehicle within the current lane. LKAS acquires information on the position of the vehicle within the lane and, when required, sends commands to actuators to influence the lateral movement of the vehicle. Recently, the vehicles equipped with LKAS are commercially available in a few vehicle-advanced countries and the installation of LKAS increases for safety enhancement. The test procedures for LKAS evaluations are being discussed and developed in international committees such as ISO(the International Organization for Standardization). In Korea, the evaluations of LKAS for vehicle safety are planned to be introduced in 2016 KNCAP(Korean New Car Assessment Program). Therefore, the test procedures of LKAS suitable for domestic road and traffic conditions, which accommodate international standards, should be developed. In this paper, some bullet points of the test procedures for LKAS are discussed by extensive researches of previous documents and reports, which are released in public in regard to lateral test procedures including LKAS and Lane Departure Warning System(LDWS). Later, it can be helpful to make a draft considering domestic traffic situations for test procedures of LKAS.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.3
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• pp.179-186
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• 2015

In this paper, a novel lateral control system is proposed for the purpose of improving lane keeping performance which is independent from GPS signals. Lane keeping is a key function for the realization of unmanned driving systems. In order to obtain this objective, a vision sensor based real-time lane detection scheme is developed. Furthermore, we employ a data fusion along with a real-time steering angle of the test vehicle to improve its lane keeping performance. The fused direction data can be obtained by an IMU sensor and vision sensor. The performance of the proposed system was verified by computer simulations along with field tests using MOHAVE, a commercial vehicle from Kia Motors of Korea.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.107.2-107
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• 2002

The objective of this study is to propose a lane changing and keeping method on a curved road for an automatic guidance of a vehicle. It is well known that the speed control of a vehicle in a curved road is essential in terms of vehicle stability and passenger safety because centrifugal force makes a vehicle to be on out of lane. And it is also natural to avoid the collision with other cars or obstructions with keeping the stability and drivability. The vehicle pose and the road curvature were calculated by geometrically fusing sensor data from camera image, tachometer and steering wheel encoder though the Perception Net in which not only the state variables, but also the corresponding uncer...

• International Journal of Internet, Broadcasting and Communication
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• v.13 no.1
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• pp.210-218
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• 2021

CNN (Convolutional Neural Network), a type of deep learning algorithm, is a type of artificial neural network used to analyze visual images. In deep learning, it is classified as a deep neural network and is most commonly used for visual image analysis. Accordingly, an AI autonomous driving model was constructed through real-time image processing, and a crosswalk image of a road was used as an obstacle. In this paper, we proposed a low-cost model that can actually implement autonomous driving based on the CNN model. The most well-known deep neural network technique for autonomous driving is investigated and an end-to-end model is applied. In particular, it was shown that training and self-driving on a simulated road is possible through a practical approach to realizing lane detection and keeping.

• Transactions of the Korean Society of Automotive Engineers
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• v.24 no.2
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• pp.255-263
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• 2016

Lane Keeping Assistance System (LKAS) is a kind of Advanced Driver Assistance Systems (ADAS) which are developed to automate/ adapt/ enhance vehicle systems for safety and better driving. The main system function of LKAS is to support the driver in keeping the vehicle within the current lane. LKAS acquires information on the position of the vehicle within the lane and, when required, sends commands to actuators to influence the lateral movement of the vehicle. Recently, the vehicles equipped with LKAS are commercially available in a few vehicle-advanced countries and the installation of LKAS increases for safety enhancement. The test procedures for LKAS evaluations are being discussed and developed in the international committees such as ISO (the International Organization for Standardization) and UNECE (United Nations Economic Commission for Europe). In Korea, the evaluations of LKAS for vehicle safety are planned to be introduced in 2016 KNCAP (Korean New Car Assessment Program). Therefore, the test procedures of LKAS suitable for domestic road and traffic conditions, which accommodate international standards, should be developed. In this paper, some bullet points of the test procedures for LKAS are discussed and proposed by extensive researches of previous documents and reports, which are released in public in regard to lateral test procedures including LKAS and Lane Departure Warning System (LDWS). And then, to evaluate the validity of the proposed test procedures, a series of experiments were conducted using commercially available two vehicles equipped with LKAS. Later, it can be helpful to make a draft considering domestic traffic situations for test procedures of LKAS.

• Journal of Auto-vehicle Safety Association
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• v.12 no.3
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• pp.13-19
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• 2020

This paper presents steering controller for unintended lane departure avoidance under crosswind using vehicle lateral disturbance estimation. Vehicles exposed to crosswind are more likely to deviate from lane, which can lead to accidents. To prevent this, a lateral disturbance estimator and steering controller for compensating disturbance have been proposed. The disturbance affecting lateral motion of the vehicle is estimated using Kalman filter, which is on the basis of the 2-DOF bicycle model and Electric Power Steering (EPS) module. A sliding mode controller is designed to avoid unintended the lane departure using the estimated disturbance. The controller is based on the 2-DOF bicycle model and the vision-based error dynamic model. A torque controller is used to provide appropriate assist torque to driver. The performance of proposed estimator and controller is evaluated via computer simulation using Matlab/Simulink.

• Journal of Advanced Navigation Technology
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• v.14 no.6
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• pp.791-799
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• 2010

In this paper, integrated navigation algorithm is designed for land transport sector which is needed high accuracy and monitoring program is developed for lane departure warning. High accuracy position information which is possible lane separation is needed for lane departure warning, so position detection algorithm based GPS/DR which combine GPS with dead reckoning is proposed. For the verification of the designed integrated navigation algorithm, we drived to acquire data and showed post-processing experiment results with monitoring program. Vehicle driving movie and aerial photograph in monitoring program is designed to show lane keeping and lane separation.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.61 no.5
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• pp.735-743
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• 2012

In this paper, we present model predictive control (MPC) applied to lane keeping system (LKS) based on a vision module. Due to a slow sampling rate of the vision system, the conventional LKS using single rate control may result in uncomfortable steering control rate in a high vehicle speed. By applying MPC using multi-rate Kalman filter to active steering control, the proposed MPC-based active steering control system prevents undesirable saturated steering control command. The effectiveness of the MPC is validated by simulations for the LKS equipped with a camera module having a slow sampling rate on the curved lane with the minimum radius of 250[m] at a vehicle speed of 30[m/s].