Assistance control based on a composite Lyapunov function for lane departure avoidance

This paper presents a vehicle steering assistance designed to avoid lane departure during driver inattention periods. Activated for a driver loss of concentration during a lane keeping maneuver the steering assistance drives the vehicle back to the center of the lane. In order to ensure a vehicle trajectory as close as possible to the centerline, the control law has been developed based on invariant sets theory and on composite Lyapunov functions. The computation has been performed using LMI methods, which allow in addition imposing a maximum bound for the control steering angle.