Abstract: Lane keeping assist system (LKAS) function is the basic function module of advanced driving assistance system (ADAS) function, it places a significance role for the realization of the advanced automatic driving function of the vehicle. The LKAS function is the basic functional requirement for realizing the lateral control of the vehicle control. Good steering performance of the vehicle is the basis for ensuring a good LKAS function. Therefore, before calibrating the LKAS function of the vehicle, it is necessary to check and validate the vehicle status. Analyze the problem issues and provide optimization solutions to ensure that the basic performance of the vehicle can meet the needs of LKAS calibration, and then meet the needs of ADAS function requirements.

Key words: Vehicle-road cooperation; V2V; Trajectory planning; Trajectory tracking; Sliding mode trajectory tracking algorithm

摘要： 转向系统的车道保持辅助系统（LKAS）功能作为高级驾驶辅助系统（ADAS）功能的 基础功能模块，对车辆的高级自动驾驶功能的实现有重要的意义。LKAS 功能是实现车辆横 向功能的基本功能需求，良好的车辆转向性能是保证良好的 LKAS 功能的基础，因此，在对 车辆的 LKAS 功能进行标定前，有必要对车辆状态进行排查验收，对存在的不良现象进行问 题分析，提供优化方案，确保车辆的基本性能可以满足 LKAS功能标定的需求，进而满足 ADAS 功能要求的需求。

关键词: 车道保持辅助系统功能；标定；状态排查；问题分析