Design and performance analysis of a novel coordinated intervention configuration for lane departure assistance system

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JOURNAL OF THE FACULTY OF ENGINEERING AND ARCHITECTURE OF GAZI UNIVERSITY, vol.36, no.3, pp.1632-1642, 2021 (SCI-Expanded) identifier identifier identifier


In this study a novel intervention configuration for lane keeping assistance system is presented. The goal of the new configuration is to increase the robustness of the lateral control of the vehicle through utilizing the force potential of three wheels by applying braking torque to one of the rear wheels in coordination with a steering angle input to the front axle. An LQR (Linear-Quadratic Regulator) controller is designed using a single-track vehicle model and then tested in simulation environment using Simulink and CarMaker software. In order to observe the performance of the system three test cases were designed in which yaw rate, yaw angle and lateral error are used as test inputs. Performance of the proposed intervention configuration was compared with only steering and only braking configurations. Test results show that the coordinated steering and brake control configuration provided the best performance with the lowest control input compared to other two configurations. The new intervention configuration improved the response speed of the lane keeping considerably.