Study on Lane Keeping Assist on Local Roads Adapting to Driver

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  • 一般道での利用を想定した個人適合可能な車線維持支援に関する研究
  • イッパンドウ デ ノ リヨウ オ ソウテイ シタ コジン テキゴウ カノウ ナ シャセン イジ シエン ニ カンスル ケンキュウ

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Abstract

Lane keeping assist (LKA) needs to make its target trajectory close to the driver’s intention for safety and comfortableness on local roads. In this study, a method for LKA is proposed to realize individual adaptation. The system’s trajectory is generated by solving a constrained optimization problem, and the parameters of its evaluation function are tuned based on the driver’s trajectory to decrease uncomfortableness for the driver. The proposed LKA is evaluated by experiments. The experimental results show that the drivers steer the vehicle with lower torque after adaptation.

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