Banked road estimation and compensation algorithm for Lane Keeping Assist and its integration in GM’s Software Architecture

Abstract:
Lane Keeping Assist (LKA) is a feature that assists the driver to keep the vehicle in lane by providing a steering push back when an unintended lane departure is detected. Road banking affects LKA intervention quality leading to a too early intervention on one side while the intervention on the other side is too late. Regarding this issue two decisions have to be made: How is the information about the road banking angle gained and how is this information used in LKA algorithm to reduce the influence of road banking on LKA intervention quality.