To alleviate the driver's nervousness, a lane-keeping algorithm based on scene analysis is proposed. From the driver's point of view, two key parameters are studied, which are the distance between the traffics car and the lane centreline of the host car, and the time-gap difference between the host car and the traffic car. The designed scene analysis algorithm is mainly based on these two parameters to screen out dangerous traffic vehicles. To ensure driving comfort when driving states change, a five-power polynomial is used to plan a smooth path based on the location of the dangerous traffic vehicle. Considering the real-time and robustness of the control algorithm, this study proposes a feedforward and feedback control architecture combined with the preview-following theory. To verify the algorithm, a variety of typical tests are designed. The experimental results show that the algorithm can make the vehicle smoothly follow the planning path.

中文翻译：

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通过场景分析考虑驾驶员的紧张情绪的车道保持系统设计

为了缓解驾驶员的紧张情绪，提出了一种基于场景分析的车道保持算法。从驾驶员的角度出发，研究了两个关键参数，即交通车辆与本车的车道中心线之间的距离以及本车与交通车之间的时差。设计的场景分析算法主要基于这两个参数来筛选危险交通车辆。为了确保驾驶状态变化时的驾驶舒适性，五次多项式用于根据危险交通车辆的位置规划平滑路径。考虑到控制算法的实时性和鲁棒性，本研究提出了一种结合前瞻理论的前馈和反馈控制架构。为了验证算法，设计了各种典型的测试。实验结果表明，该算法可以使车辆平稳走行。