Control authority determination of a vehicle lane keeping assist controller

The vehicle lane keeping assist through active front wheel steering is developed in this research using robust model reference adaptive control. Two independent on-line driver drowsy assessment systems are employed to determine the driver drowsy indices. The two sets of drowsy assessments will be integrated through a Kalman filter to help determine the control authority of the controller. Computer simulations show that the proposed controller and control authority scheduling algorithms achieve the desired functions. Driving simulator experiments will be conducted to verify the proposed framework.