A Feedforward Controller Design for Lane Keep Assist Through Differential Braking Force

This paper proposes a control design method for Lane Keep Assist (LKA) systems though differential braking force. By obtaining the time response to equation of motion for a two-wheeled model and simplifying the exponential term, it was determined that yaw rate and yaw moment are proportional to each other. Subject to the ignored terms in order to simplify the equation, we cover an unfollowed handling as well. As the result of the simplification, it demonstrates a control method to achieve any target trajectory. The results of simulations and experiments also verify the effectiveness of this method. Within the vehicle parameters we also focus on tire cornering power to examine the differences between steering control and braking control.