Design of Lane Keeping Algorithm of Autonomous Vehicle
The paper presents the design and realization of lane keeping function of an autonomous electric go-cart. The requirement towards the system concerning this paper is navigating the vehicle on a closed track with road markings, based on information from an optical camera with lane detection capabilities. To achieve this task, two solutions were used, a double-loop control with feedforward load disturbance compensation and a nonlinear method. The control algorithms were designed and tuned in a Hardware-In-The-Loop framework. The nonlinear algorithm was implemented on two different hardware devices and validated in CarSim–Matlab software environment.
Keywords:autonomous vehicle; lane keeping; line detection; hardware-in-the-loop
How to Cite
Törő, O., Bécsi, T., Aradi, S. (2016) “Design of Lane Keeping Algorithm of Autonomous Vehicle”, Periodica Polytechnica Transportation Engineering, 44(1), pp. 60–68. https://doi.org/10.3311/PPtr.8177