Interactive and Robust Prevention of Lane Departure

Lane Keeping Assistance (LKA) is one of the most common Advanced Driver Assistance System (ADAS) functions on the market, yet it is still not well accepted by drivers. Although LKA can reduce the occurrence of traffic accidents by correcting the vehicle heading in the event of an unintentional lane departure, poor usability often results in manual deactivation of the function. We provide considerations on how to specify LKA functions in general and propose admittance control as a solution to improve the state-of-the-art from the widely used concept of torque overlay, which is limited by a trade-off between automated and manual driving modes. Using the proposed LKA function, unintentional lane departure is prevented while maintaining comfortable reaction torque which allows the driver to easily steer the vehicle.