Lane Departure Avoidance Control for Electric Vehicle Using Torque Allocation

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/mpe/volume-2018/1024805/figures/1024805.fig.009a.svgz" name="1024805.fig.009a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>TLC</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/mpe/volume-2018/1024805/figures/1024805.fig.009b.svgz" name="1024805.fig.009b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>DLC</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/mpe/volume-2018/1024805/figures/1024805.fig.009c.svgz" name="1024805.fig.009c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Decision logic</td></tr></table>

Mathematical Problems in Engineering

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Figure 9

Figure 9: Lane Departure Avoidance Control for Electric Vehicle Using Torque Allocation 