ABSTRACT
This paper aims to design a target point adjustment method to mitigate center error during vehicle lane keeping assistance control, this research is an advancement based on the Target & Control (T&C) driver steering model, which references characteristics exhibited by actual drivers. This paper will first introduce a lane keeping assistance control system that incorporates three essential models including vehicle dynamics model, electric power steering model and the T&C driver steering model, then by considering unavoidable system deviations such as positioning deviation and camera displacement etc., a supplementary control loop will be added to correct the center error without additional estimators or hardware sensors. Finally, the system stability and performance will be examined using root locus analysis, and the overall control strategy will be validated and verified using the CarSim simulation environment.
