Reduction of preview distance in lane-keeping control

Lane marker detection is indispensable for a lane-keeping-control algorithm. However, it is impossible to detect lane markers when the curvature of the lane the vehicle is travelling on is large or when there is another car in front of the vehicle with short distance. For lane marker detection, it is desirable to set a preview point close to the vehicle. Therefore, by analyzing the block diagram of driver-vehicle system, we propose a method to reduce preview distance without lane tracking performance deterioration by increasing preview points from the conventional one point to two points. Furthermore, it is revealed that driving along a corner with constant curvature without steady-state deviation and arbitrary design of tracking dynamic characteristics become possible by increasing preview points.