Abstract
A lane keeping assistant (LKA) is a control system that maintains marked lanes for driving safety. This paper shows an LKA system based on a time to lane crossing (TLC). A TLC can be calculated by dividing the distance to the lane crossing by the vehicle velocity and represents the time in which a vehicle will cross the lane. Instead of using a complicated TLC calculation for both straight and curved roads, a lightweight TLC (LTLC) method as a simplified one is proposed to reduce the computing time. By approximating the curved road to two straight roads, based on look-ahead points, the TLC computation of time can be reduced. The LKA system pre-calculates the vehicle
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