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This paper presents an automated driving control algorithm for the control of an autonomous vehicle. In order to develop a highly automated driving control algorithm, one of the research issues is to determine a safe driving envelope with the consideration of probable risks. While human drivers maneuver the vehicle, they determine appropriate steering angle and acceleration based on the predictable trajectories of the surrounding vehicles. Therefore, not only current states of surrounding vehicles but also predictable behaviors of that should be considered in determining a safe driving envelope. Then, in order to guarantee safety to the possible change of traffic situation surrounding the subject vehicle during a finite time-horizon, the safe driving envelope over a finite prediction horizon is defined in consideration of probabilistic prediction of future positions of surrounding vehicles.

This paper describes a lane departure avoidance system to help the driver avoid the lane departure during drowsiness or inattention. The lane departure avoidance system proposed in this paper consists of unintended lane departure decision part, upper level controller part and lower level controller part. The index used in unintended lane departure decision part is proposed to monitor a driver's intention with steering behaviors. The desired dynamics is calculated in upper level controller part. When the desired dynamics is calculated, it is considered to guarantee a driver's safety and smooth ride feel simultaneously as possible. The lower level controller distributes the desired control input to actuators, motor driven power steering (MDPS) module and vehicle stability control (VSC) module. The proposed lane departure avoidance system has been evaluated via human driver model-in the loop simulation.