Design of a Lane Departure Prevention System with Enhanced Drivability

This paper proposes a lane departure prevention system, that generates yaw moment in an event of detecting lane departure, to assist the driver to manoeuvre the vehicle back to the original traveling lane. The system aims to contribute in reducing road accidents, which over 40% is estimated to be caused by lane departures according to a survey. The system utilizes a CMOS camera to recognize lane departures, and yaw-moment is applied by direct yaw-moment control. The overall system is described together with results of experiments showing the effectiveness of the support.