Full Content is available to subscribers

Subscribe/Learn More  >

Two-Stage Lane Keeping Control Algorithm for Lane Sensing Inaccuracy Handling

[+] Author Affiliations
Jin-Woo Lee, Bakhtiar B. Litkouhi

R&D, General Motors, Warren, MI

Hsun-Hsuan Huang

iGate Technologies, Inc., Cambridge, MA

Paper No. IMECE2013-65892, pp. V013T14A025; 9 pages
  • ASME 2013 International Mechanical Engineering Congress and Exposition
  • Volume 13: Transportation Systems
  • San Diego, California, USA, November 15–21, 2013
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-5642-0
  • Copyright © 2013 by ASME and General Motors


The Lane Keeping Assist (LKA) system is a safety feature that applies an automatic steering torque to the vehicle steering system to keep the subject vehicle in its lane. Like many other active safety systems, the LKA systems may often experience a performance issue in real road situations. The common LKA performance issues are mainly due to poor quality of the front camera’s curvature data and sudden drops of camera’s detection range. To overcome these issues, this paper proposes a two-stage lane keeping control. In this approach, the LKA has two independent algorithms running with a coordination. In the coordination layer, the secondary lane keeping (LK) control has the authority to override the primary LK control if the primary LK fails to maintain the subject vehicle in the current lane due to the above issues. The key aspect of this system is the accurate timing of the secondary LK’s override over the primary LK. The coordination logic between the primary and the secondary LK control, and smooth transition between the controls are also important performance measures. The determination algorithm of the LK initiation and termination plays a key role in achieving the objectives of LKA fail handling. This paper describes these algorithms as well as the path planning and the steering control algorithms. Several vehicle tests were carried out on curved roads. The results show successful and smooth transition from the primary to the secondary LK layer.

Copyright © 2013 by ASME and General Motors



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In