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황윤형(Yunhyoung Hwang),이혁기(Hyuckkee Lee),신성근(Seongguen Shin) 한국자동차공학회 2013 한국자동차공학회 부문종합 학술대회 Vol.2013 No.5
This paper describes the strategy on the autonomous lane keeping assistance considering driver’s steering condition. As for the common lane keeping assist system, the lane keeping is achieved through a yaw moment control by differential braking with ESC, or a steering torque control with EPS. This paper suggests the method of harmonization of a differential braking with a steering torque, considering the driver’s steering condition in such way that the system intervention does not disturb the state of driver’s steering and vice versa. The suggested control algorithm is implemented with MATLAB/Simulink, and is evaluated in the simulation experiments with a high precision vehicle dynamics model.