Lane Keeping of Intelligent Vehicle with Man-Machine-Coordination

The methods of lane keeping are mainly classified into the two types. The first type is that the driver does not directly participate in the lateral control of the vehicle. The second one is that the driver and the assisted driving system control the vehicle together. But the control right of the vehicle should be appropriate decided. This paper is aimed to study how to decide the control right between the driver and the assisted driving system in order to get both the advantages of driver and assisted driving system in lane keeping control. The vehicle lateral safety is evaluated according to real-time driver operation and vehicle road information, and control right was decided among the driver and the assistant control system, so the man-machine coordinative control could be carried out. For the lane image recognition, segmental lane detection and candidate lane estimation were adopted. According to different vehicle lateral safety grade, different control strategy was applied. The assistant control coefficient was calculated based on fuzzy control rules, and then the assistant control was performed when both driver control and assistant control were needed. Under different road conditions and vehicle speed, the road tests were carried out by means of manual driving and man-machine cooperative driving with different vehicle speed. The lanes can be recognized efficiently, and the vehicle under the control of the assistant control system and the driver can track the lanes more accurately and reliably.