Abstract
Lane keeping assist (LKA) needs to make its target trajectory close to the driver’s intention for safety and comfortableness on local roads. In this study, a method for LKA is proposed to realize individual adaptation. The system’s trajectory is generated by solving a constrained optimization problem, and the parameters of its evaluation function are tuned based on the driver’s trajectory to decrease uncomfortableness for the driver. The proposed LKA is evaluated by experiments. The experimental results show that the drivers steer the vehicle with lower torque after adaptation.
