Integrated driver co-pilote approach for vehicle lateral control

Author

Oufroukh, N.A. ; Mammar, Said

Author_Institution

Evry Val d´Essonne Univ., Evry, France

fYear

2014

fDate

8-11 June 2014

Firstpage

1163

Lastpage

1168

Abstract

This paper considers the integrated control for driver assistance during lane keeping and obstacle avoidance maneuver. The proposed approach handles the driver activity, namely the torque, in order to provide progressive assistance intrusion. The design method allows addressing both underloaded and obverloaded situations. The model formulation uses the Takagi-Sugeno formalism which allows a design procedure ensuring stability performance for the whole nonlinear system. The obtained controller is successfully tested on lane keeping maneuvers.

Keywords

collision avoidance; control system synthesis; motion control; nonlinear control systems; road traffic control; road vehicles; stability; torque; Takagi-Sugeno formalism; design method; driver activity; driver assistance; driver co-pilote approach; lane keeping maneuvers; model formulation; nonlinear system; obstacle avoidance maneuver; obverloaded situations; progressive assistance intrusion; stability performance; torque; underloaded situations; vehicle lateral control; Output feedback; Roads; State feedback; Takagi-Sugeno model; Torque; Vectors; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Vehicles Symposium Proceedings, 2014 IEEE

Conference_Location

Dearborn, MI

Type

conf

DOI

10.1109/IVS.2014.6856519

Filename

6856519