关键词: 车道保持；辅助系统；偏离预警；联合仿真

Abstract: The lane keeping assist system (LKAS) has important safety functions and research significance, which can issue early warning and correct the deviation when the vehicle unintentionally deviates. A lane keeping assistance system is designed, which mainly includes lane departure warning module and lane centering control module. The data is collected by camera and image processing is done to determine whether the vehicle deviates from the lane according to the left and right lane lines and vehicle position status. If the vehicle deviates and the driver doesn’t actively control the vehicle, the departure warning sends out an audible and visual alarm and the control module adjusts the speed and direction of the vehicle. The vehicle approaches the center of the lane and drives along the center of the lane. The experimental vehicle is used to verify the lane keeping assist system. The results show that the system can realize lane departure warning and lane centering control, and has high stability and reliability.

Key words: Lane keeping; Assist system; Departure warning; Co-simulation