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Communication Dans Un Congrès Année : 2007

Assistance control based on a composite Lyapunov function for lane departure avoidance

Résumé

This paper presents a vehicle steering assistance designed to avoid lane departure during driver inattention periods. Activated for a driver loss of concentration during a lane keeping maneuver the steering assistance drives the vehicle back to the center of the lane. In order to ensure a vehicle trajectory as close as possible to the centerline, the control law has been developed based on invariant sets theory and on composite Lyapunov functions. The computation has been performed using LMI methods, which allow in addition imposing a maximum bound for the control steering angle.
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Dates et versions

hal-00359940 , version 1 (09-02-2009)

Identifiants

  • HAL Id : hal-00359940 , version 1

Citer

Nicoleta Minoiu, Mariana Netto, Said Mammar. Assistance control based on a composite Lyapunov function for lane departure avoidance. 15th Mediterranean conference on control and automation (MED 2007), Jul 2007, Athens, Greece. 6p. ⟨hal-00359940⟩
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