Composite Lyapunov based vehicle longitudinal control assistance

This paper presents the design and the simulation test of an assistance system that helps the driver to perform vehicle following maneuver. When activated, the assistance drives the vehicle to the desired inter-distance. A switching strategy governs the driver-assistance interaction. The vehicle following control law has been developed based on invariant sets theory, namely on composite Lyapunov functions. The computation of the control law has been achieved using Linear and Bilinear Matrix Inequalities (LMI-BMI) methods. Some design parameters can be adjusted to handle the tradeoff between safety constraints and comfort specifications.