Driver Steering Assistance for Lane-Departure Avoidance Based on Hybrid Automata and Composite Lyapunov Function
ENACHE ; MAMMAR ; NETTO ; LUSETTI
Type de document
ARTICLE A COMITE DE LECTURE REPERTORIE DANS BDI (ACL)
Langue
anglais
Auteur
ENACHE ; MAMMAR ; NETTO ; LUSETTI
Résumé / Abstract
This paper presents the design and the practical implementation of vehicle steering assistance that helps the driver avoid unintended lane departure. A switching strategy is built to govern the driver-assistance interaction, and the resulting hybrid system is formalized as an input/output (I/O) hybrid automaton. Composite Lyapunov functions, polyhedral-like invariant sets, and linear matrix inequality (LMI) methods constitute the heart of the approach used to design the lane-departure avoidance (LDA) system. The practical implementation of this steering assistance in a prototype vehicle confirms the effectiveness of this approach. Lateral control; Linear matrix inequality (LMI); Vehicle active safety system; Composite Lypunov function; Driver steering assistance; Hybrid automaton; Invariant sets
Source
IEEE Transactions on Intelligent Transportation Systems, num. 1, pp 28-39 p.
Editeur
INSTITUTE OF ELECTRICAL AND ELECTRONICS ENGINEERS - IEEE
