In this paper, a novel lane-keeping system is introduced controlling lateral and angular position of the vehicle in the lane while preventing it from instability in critical situations. When the vehicle deviates from its ideal path because of driver drowsiness or external causes such as cross wind, the system controls the steering and brake systems as actuators and directs the vehicle to the ideal path. Optimal control theory has been used in controller design stage. Furthermore, since the driver has not a monotonic behaviour, a method for adapting the controller with variations of driver parameters has been proposed. Simulation results show the superiority of the performance of this system in comparison with usual systems.
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