An Advanced Lane-Keeping Assistance System With Switchable Assistance Modes

Abstract

Lane keeping is a key task in driving, and it plays an important role in staying safe while driving. However, conventional lane-keeping assistance systems (LKASs) have a limited level of automation, while fully autonomous lane-keeping systems have shortcomings regarding reliability. To address these issues, an advanced LKAS with two switchable assistance modes, namely, the lane departure prevention mode and the lane-keeping co-pilot mode, is proposed in this paper. First, the system structure is constructed. Then, the functions and control strategies for the two assistance modes are defined. Next, the controller algorithms are designed using the learning-based model predictive control (LBMPC) method to compensate for modeling errors. Within the framework of LBMPC, an oracle is built to learn the unmodeled dynamics using an extended Kalman filter. Moreover, optimization problems are formulated to achieve the control objectives regarding driving safety and driver acceptance. Finally, driver-in-the-loop experiments carried out on a driving simulator prove that both assistance modes are effective. Furthermore, the lane-keeping co-pilot mode can help reduce the driving burden in the sense of avoiding frequent steering correction.