Sliding-mode controller for heavy vehicle lane departure avoidance

The aim of presented work consists in developing an active steering assistance system to avoid the lane departure of heavy vehicle. The controller is based on super twisting algorithm. An estimator based on the sliding mode observer is also developed to estimate the vehicle dynamics. The lateral positions and speeds are then controlled in order to keep the vehicle in the centre of the lane. In order to show the quality of this assistance system, some simulations results are given in this paper; lane change and lane keeping tests are then presented in this paper.