Driver co-pilote for vehicle lateral control at handling limits

This paper addresses lane keeping control of a vehicle at the limit of handling. The control approach allows steering share between the controller and the driver. Handling limits are mainly due to tire forces saturation which are modelled using sector nonlinearity procedure. Forward speed variation is also taken into account through polytopic modeling. Driver activity, namely the torque, is considered during the design procedure in order to provide progressive assistance intrusion. All these aspects put together lead to a Takagi-Sugeno model. A controller is finally synthesized under a static output feedback gain with constrained structure. The obtained controller is tested under lane keeping maneuvers.