{"id":"https://openalex.org/W2897614258","doi":"https://doi.org/10.1109/tits.2018.2873101","title":"Synthesis of Robust Lane Keeping Systems: Impact of Controller and Design Parameters on System Performance","display_name":"Synthesis of Robust Lane Keeping Systems: Impact of Controller and Design Parameters on System Performance","publication_year":2018,"publication_date":"2018-10-17","ids":{"openalex":"https://openalex.org/W2897614258","doi":"https://doi.org/10.1109/tits.2018.2873101","mag":"2897614258"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2018.2873101","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2018.2873101","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Intelligent Transportation Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103075381","display_name":"Kibeom Lee","orcid":"https://orcid.org/0000-0002-9745-7116"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Kibeom Lee","raw_affiliation_strings":["Vehicular Systems Design and Control Laboratory, Graduate School of Green Transportation, Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-9745-7116","affiliations":[{"raw_affiliation_string":"Vehicular Systems Design and Control Laboratory, Graduate School of Green Transportation, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100747108","display_name":"Shengbo Eben Li","orcid":"https://orcid.org/0000-0003-4923-3633"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shengbo Eben Li","raw_affiliation_strings":["State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-4923-3633","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091555350","display_name":"Dongsuk Kum","orcid":"https://orcid.org/0000-0002-2590-4845"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Dongsuk Kum","raw_affiliation_strings":["Vehicular Systems Design and Control Laboratory, Graduate School of Green Transportation, Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-2590-4845","affiliations":[{"raw_affiliation_string":"Vehicular Systems Design and Control Laboratory, Graduate School of Green Transportation, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5103075381"],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":2.8524,"has_fulltext":false,"cited_by_count":45,"citation_normalized_percentile":{"value":0.90876458,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"20","issue":"8","first_page":"3129","last_page":"3141"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9955000281333923,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7076852917671204},{"id":"https://openalex.org/keywords/truck","display_name":"Truck","score":0.5831331014633179},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.564316987991333},{"id":"https://openalex.org/keywords/sensitivity","display_name":"Sensitivity (control systems)","score":0.48291775584220886},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4586091637611389},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.44579246640205383},{"id":"https://openalex.org/keywords/speed-limit","display_name":"Speed limit","score":0.4159303903579712},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3963111639022827},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.378699392080307},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3245568871498108},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1059698760509491},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.08047422766685486},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07782399654388428}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7076852917671204},{"id":"https://openalex.org/C52121051","wikidata":"https://www.wikidata.org/wiki/Q43193","display_name":"Truck","level":2,"score":0.5831331014633179},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.564316987991333},{"id":"https://openalex.org/C21200559","wikidata":"https://www.wikidata.org/wiki/Q7451068","display_name":"Sensitivity (control systems)","level":2,"score":0.48291775584220886},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4586091637611389},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.44579246640205383},{"id":"https://openalex.org/C2780210587","wikidata":"https://www.wikidata.org/wiki/Q1077350","display_name":"Speed limit","level":2,"score":0.4159303903579712},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3963111639022827},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.378699392080307},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3245568871498108},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1059698760509491},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.08047422766685486},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07782399654388428},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2018.2873101","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2018.2873101","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Intelligent Transportation Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1502500863","https://openalex.org/W1512616886","https://openalex.org/W1522450142","https://openalex.org/W1575559101","https://openalex.org/W1622650527","https://openalex.org/W1952241374","https://openalex.org/W1965351364","https://openalex.org/W1966020541","https://openalex.org/W1967747880","https://openalex.org/W1968651586","https://openalex.org/W1982620367","https://openalex.org/W1997595810","https://openalex.org/W2010515859","https://openalex.org/W2014385495","https://openalex.org/W2019916188","https://openalex.org/W2032038126","https://openalex.org/W2036021531","https://openalex.org/W2048187422","https://openalex.org/W2050871847","https://openalex.org/W2110895474","https://openalex.org/W2112156114","https://openalex.org/W2122593097","https://openalex.org/W2134328920","https://openalex.org/W2143455423","https://openalex.org/W2144469946","https://openalex.org/W2170388503","https://openalex.org/W2185191497","https://openalex.org/W2289016861","https://openalex.org/W2292240560","https://openalex.org/W2307879454","https://openalex.org/W2308202770","https://openalex.org/W2314224933","https://openalex.org/W2415482502","https://openalex.org/W2508716874","https://openalex.org/W2514854142","https://openalex.org/W2576699368","https://openalex.org/W2588221994","https://openalex.org/W3125118705","https://openalex.org/W6631154210"],"related_works":["https://openalex.org/W1517019597","https://openalex.org/W1968776045","https://openalex.org/W2296713838","https://openalex.org/W767149399","https://openalex.org/W3036261569","https://openalex.org/W2889950528","https://openalex.org/W575062473","https://openalex.org/W4297672583","https://openalex.org/W1584735380","https://openalex.org/W1994104586"],"abstract_inverted_index":{"The":[0],"lane":[1,30,152],"keeping":[2],"system":[3],"(LKS),":[4],"a":[5,107,139,172,222],"promising":[6],"driver":[7],"assistance":[8],"system,":[9],"is":[10,114,162,168],"essential":[11],"for":[12,190],"autonomous":[13],"vehicles.":[14],"In":[15,63],"realworld":[16],"road":[17,39],"conditions,":[18],"it":[19,161],"can":[20,142],"be":[21,211],"quite":[22],"challenging":[23],"because":[24],"LKS":[25],"must":[26],"stay":[27],"within":[28],"the":[29,66,87,111,120,123,126,132,144,151,165,185,203],"without":[31],"causing":[32],"passenger":[33,80,219],"discomfort":[34],"while":[35],"both":[36,215],"disturbances":[37],"(e.g.,":[38],"curvature,":[40],"wind":[41],"gusts,":[42],"and":[43,45,57,69,79,99,154,175,182,195,201,207,218],"hydroplaning)":[44],"model":[46,176],"uncertainties":[47],"in":[48,116],"parameters":[49,113,124],"[e.g.,":[50],"vehicle":[51,112,226],"mass,":[52],"center":[53],"of":[54,91,122,205,225],"gravity":[55],"(CG),":[56],"tire":[58],"cornering":[59],"stiffness]":[60],"are":[61,82],"present.":[62],"this":[64,135],"paper,":[65],"performance":[67,73,128,146,217],"limits":[68],"tradeoffs":[70],"between":[71],"three":[72,92,127],"criteria":[74],"(lane":[75],"tracking,":[76],"stability":[77,155],"robustness,":[78,156],"comfort)":[81],"first":[83],"investigated":[84],"by":[85],"exploring":[86],"entire":[88],"design":[89,174],"space":[90],"prominent":[93],"controllers,":[94],"i.e.,":[95],"proportional-integral-derivative,":[96],"linear-quadratic-":[97],"Gaussian,":[98],"H-infinity":[100],"(H":[101],"<sub":[102],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[103],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">\u221e</sub>":[104],").":[105],"Then,":[106],"sensitivity":[108,186],"study":[109,187],"on":[110,125,131],"conducted":[115],"order":[117],"to":[118,150,171,213],"investigate":[119],"impact":[121],"metrics.":[129],"Based":[130],"aforementioned":[133],"studies,":[134],"paper":[136],"concludes":[137],"that":[138,164,189],"robust":[140,166],"controller":[141,167,206],"provide":[143],"maximum":[145],"limit":[147],"with":[148,192],"respect":[149],"tracking":[153,216],"when":[157],"properly":[158],"designed.":[159],"However,":[160],"observed":[163],"still":[169],"sensitive":[170],"few":[173],"parameters,":[177],"such":[178,198],"as":[179,199],"look-ahead":[180,208],"distance":[181,209],"CG.":[183],"Therefore,":[184],"suggests":[188],"vehicles":[191],"excessive":[193],"mass":[194],"CG":[196],"changes,":[197],"SUVs":[200],"trucks,":[202],"adaptation":[204],"may":[210],"necessary":[212],"maximize":[214],"comfort":[220],"over":[221],"wide":[223],"range":[224],"speeds.":[227]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":6}],"updated_date":"2026-05-29T09:21:14.243279","created_date":"2025-10-10T00:00:00"}
