Design of Lane Keeping Algorithm of Autonomous Vehicle

Olivér Törő, Tamás Bécsi, Szilárd Aradi
2016 Periodica Polytechnica Transportation Engineering  
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
more » ... dware-In-The-Loop framework. The nonlinear algorithm was implemented on two different hardware devices and validated in CarSim-Matlab software environment.
doi:10.3311/pptr.8177 fatcat:yi3prcj4ifhpnk7tf6voyytyci