Evaluation of Lane Keeping Assistance Controllers in HIL Simulations

Abstract Lane Keeping Assistant Systems (LKAS) require the cooperative operation between drivers and active steering angle/torque controllers. An LKAS system is proposed in this study such that the desired path is generated to minimize the trajectory overshoot. Based on the reference path, an optimal controller is designed to minimize the cost function. A HIL (Hardware In the Loop) simulator is constructed to evaluate the proposed LKAS system. The single camera is mounted on the simulator and acquires the monitor images to detect lane markers. The performance of the proposed system is evaluated by HIL system using the Carsim and the Matlab Simulink.