Abstract
Most of Lane-Keeping Assistance Systems are designed to regulate the lateral deviation of vehicle that may interfere the driver's maneuver in some cases resulting in deterioration of driver's workload. This paper proposes a new algorithm for the Lane-Keeping Assistant System by controlling of yaw angle of vehicle as called Attitude Control Assistance System or ACAS. The ACAS controls yaw angle of vehicle using two types of control inputs, steering torque and rear steering angle in this paper. The control system is designed and the system's effectiveness is evaluated based on experiment using driving simulator.
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