基于Matlab的车道保持系统，文章从车辆横向控制角度进行分析，采用两自由度单轨模型构建系统，之后又matlabsimulink下对采集信号进卡曼滤波处理，有效消除噪声-Matlab-based lane keeping system, the article the vehicle lateral control angle analysis, using two degrees of freedom to build a monorail system model, and later c