Lane Keeping Assistant Algorithm Based on a Lightweight Time to Lane Crossing

A lane keeping assistant (LKA) is a control system that maintains marked lanes for driving safety. This paper shows an LKA system based on a time to lane crossing (TLC). A TLC can be calculated by dividing the distance to the lane crossing by the vehicle velocity and represents the time in which a vehicle will cross the lane. Instead of using a complicated TLC calculation for both straight and curved roads, a lightweight TLC (LTLC) method as a simplified one is proposed to reduce the computing time. By approximating the curved road to two straight roads, based on look-ahead points, the TLC computation of time can be reduced. The LKA system pre-calculates the vehicle"s LTLC and turns the steering wheel in the opposite direction when the remaining time is running out. To verify the proposed algorithm, an IPG"s CarMaker simulation with Matlab/Simulink was executed. The simulation results show it was possible to show stable driving results. Moreover, the calculation time was compared with that of the existing TLC.