406 Consideration on Influence of Measurement Noise in Lane Keeping Control System

Abstract

In lane keeping control systems, relative lateral distance and relative yaw angle between vehicle and target lane must be measured. Therefore, if the direction for center of curvature is unknown, it is difficult to measure lateral distance and yaw angle. To overcome the problem, an approximate measurement of the states is developed. In this paper, to confirm the effectiveness of the developed approximate measurement, numerical simulations are carried out in the presence of measurement noise caused by an approximation.