Institut Français des Sciences et Technologies des Transports, de l'Aménagement et des Réseaux

Type de document

COMMUNICATION AVEC ACTES INTERNATIONAL (ACTI)

Langue

anglais

Auteur

BENINE-NETO ; MAMMAR

Résumé / Abstract

This paper presents the design and simulation tests of a lane keeping assistance system for passenger vehicles based on a piecewise affine state feedback controller.The design of the proposed lane keeping system takes into account the entire domain of lateral tyre forces through piecewise affine approximations of the tyre forces nonlinear behaviour. The computation of the control law is casted as Bilinear Matrix Inequalities optimisation procedure which is solved using the V-K-method to find simultaneously a piecewise quadratic Lyapunov function and the state feedback gain simultaneously. Simulations show the improved performance of the controller on degraded adherence conditions.

Editeur

IEEE