Realization of Emergency Lane Keeping System by Adaptive Control based on the Finite State Machine

Emergency lane keeping (ELK) is the function of actively intervening Lane Support Systems, which can avoid or decrease collision risks to other oncoming or overtaking vehicles in the adjacent lane. In this paper, firstly a finite state machine (FSM) is designed to manage the availability and activation states for the ELK system. Then an effective control system, including both the adaptive feedback controller and adaptive feedforward controller, is proposed to ensure the excellent performance of ELK system. By considering the steering wheel angle, yaw velocity, lateral acceleration and other necessary factors in advance, the feedback controller takes heading angle and offset of position as the comprehensive control objective so that the vehicle can drive in the required area with robustness. Based on the road curvature observed by the front camera, the feedforward controller can lead the vehicle to respond the steering demand effectively and quickly even in the case of a sharp turn. Finally, a simulation is provided to prove the effectiveness and benefits of the proposed system for scenarios that defined in the ENCAP for the ELK system.