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Published January 1, 2018 | Version v1
Conference paper Open

A Lane Keeping System with a Weighted Preview Measurement

Creators

  • 1. Cankaya Univ, Elect & Commun Engn, Ankara, Turkey
  • 2. Bozankaya AS, Elect Res Deptartment, Ankara, Turkey
  • 3. Middle East Tech Univ, Elect & Elect Engn, Ankara, Turkey

Description

This paper proposes a new lane keeping system (LKS) based on a weighted preview measurement. The paper first identifies shortcomings of existing methods that use the sole measurement of lateral displacement error at a preview distance or at the center of gravity. Then, the novel idea of computing a weighted average of both measurements is proposed. The stability of the resulting LKS is analyzed and the improved performance of the resulting LKS is supported by simulation experiments.

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