A switched optimized approach for road-departure avoidance: implementation results

Author

Minoiu, Nicoleta ; Netto, Mariana ; Mammar, Saïd ; Lusetti, Benoït

Author_Institution

Driver Interactions Res. Unit, Versailles

fYear

2007

fDate

13-15 June 2007

Firstpage

787

Lastpage

792

Abstract

We present in this contribution the design and implementation of a steering assistance control. The main goal is to avoid the lane departure in case the driver loses attention. This control has been developed to keep the vehicle´s trajectory within certain bounds during the assistance intervention, while maintaining a limited torque control input. In order to achieve this goal we have employed both Lyapunov theory and LMI optimization methods.

Keywords

Lyapunov methods; linear matrix inequalities; optimisation; road vehicles; torque control; traffic control; LMI optimization methods; Lyapunov theory; assistance intervention; lane departure; limited torque control input; linear matrix inequalities; road-departure avoidance; steering assistance control; switched optimized approach; vehicle trajectory; Automatic control; Control systems; Displacement control; Gravity; Optimal control; Strips; Torque control; Vehicle driving; Vehicle dynamics; Wheels; Automatic steering assistance; LMI; Lyapunov function;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Vehicles Symposium, 2007 IEEE

Conference_Location

Istanbul

ISSN

1931-0587

Print_ISBN

1-4244-1067-3

Electronic_ISBN

1931-0587

Type

conf

DOI

10.1109/IVS.2007.4290212

Filename

4290212