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

摘要： 车道保持辅助系统（LKAS）在汽车无意识偏离时能发出预警并纠正偏离，具有重要的 安全作用和研究意义。设计了一种车道保持辅助系统，主要包括车道偏离预警模块和车道居 中控制模块，通过摄像头采集数据并做了图像处理，根据左右车道线和车辆位置状态判断车 辆是否偏离车道。若车辆发生偏离且驾驶员未主动控制车辆，则偏离预警发出声光报警，控 制模块对车辆速度及方向进行调节，车辆向车道中心靠近，并沿着车道中心行驶。用实验小 车对车道保持辅助系统进行验证，结果表明，系统可实现车道偏离预警和车道居中控制，具 有较高的稳定性和可靠性。

关键词: 车道保持；辅助系统；偏离预警；联合仿真