Abstract: The driver's distraction, carelessness and accidental touch during driving may cause the vehicle to deviate from the lane, which may cause scratch with the vehicles in the adjacent lane and endanger the life safety of drivers and passengers. The lane keeping assistant system can ensure that the vehicle is driving in the middle of the lane, or correct the deviation in time when it detects that the vehicle is about to unconsciously deviate from the lane, which can effectively prevent the occurrence of collision accidents such as scratch. This paper introduces the development process of lane keeping assistant system of passenger car in detail, including the simulation and real vehicle debugging of lane centering control (LCC) and lane departure suppression (LDP). After debugging, the function of lane centering control and lane departure suppression can be used normally, and the developed functions have successfully passed the requirements of the specification GB/T 39323-2020.

Key words: Lane keeping assistant system; Lane centering; Lane departure suppression; Debugging; Passenger car

摘要： 行车过程中驾驶员的分神、粗心大意、误触碰等都可能引起车辆偏离本车道，这可能 造成与相邻车道的车辆发生剐蹭，危及驾乘人员生命安全。车道保持辅助系统可保证车辆在 车道中间行驶，或检测到车辆即将无意识偏离本车道时进行及时纠偏，可有效防止剐蹭等碰 撞事故的发生。文章详细介绍了乘用车车道保持辅助系统的开发流程，包括车道居中保持 （LCC）和车道偏离抑制（LDP）两个功能的仿真和实车调试。调试完毕后，车道居中保持 功能和车道偏离抑制功能可以正常使用，且所开发功能顺利通过了规程 GB/T 39323—2020 的 要求。

关键词: 车道保持辅助系统；车道居中；车道偏离抑制；调试；乘用车