TY - JOUR AU - Törő, Olivér AU - Bécsi, Tamás AU - Aradi, Szilárd PY - 2016/01/01 Y2 - 2024/03/28 TI - Design of Lane Keeping Algorithm of Autonomous Vehicle JF - Periodica Polytechnica Transportation Engineering JA - Period. Polytech. Transp. Eng. VL - 44 IS - 1 SE - DO - 10.3311/PPtr.8177 UR - https://pp.bme.hu/tr/article/view/8177 SP - 60-68 AB - 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. ER -