Abstract：Lane control systems automatically keep a vehicle in its lane to improve driving safety. Such systems need to adapt to the driver's characteristics and should reduce unnecessary intervention. A small deviation model of the human-vehicle system is formulated for on-line prediction of the future vehicle trajectory with an assistance control strategy based on model predictive control (MPC). A corrective steering angle is computed by solving a quadratic programming problem. The nominal trajectory is predicted using the current vehicle information. Then, a deviation model is obtained by successively linearizing the human-vehicle system around the nominal prediction trajectory. A cost function and I/O constraints are designed according to a performance index. Simulations and real world tests show that this approach is able to avoid unintended lane departures while adapting to the driver's driving patterns and avoiding unnecessary intervention.
柳长春, 都东, 潘际銮. 基于小偏差模型预测的车道保持辅助控制[J]. 清华大学学报（自然科学版）, 2015, 55(10): 1087-1092.
LIU Changchun, DU Dong, PAN Jiluan. Predictive control for lane control systems using a small deviation model. Journal of Tsinghua University(Science and Technology), 2015, 55(10): 1087-1092.
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