Driver steering assistance: lane departure prevention for curvy roads using feedforward correction and BMI optimization
Résumé
This paper presents a steering assistance system that helps the driver to avoid unintended lane departure. Using a DC motor installed on the steering column, a steering control law takes action in situations of drifting off the lane. Furthermore, the steering control law provides lane keeping for straight as well as for curved roads until the driver recovers attention. In order to minimize a potential lane overshoot after the activation moment, and to reduce the curvature effect on the lane keeping performance, the reachability set of the vehicle, when the assistance is active, has been minimized during control design phase. This goal has been achieved by means of BMI optimization methods (Bilinear Matrix Inequalities).