A Switched Optimized Approach for Road-Departure Avoidance

A control for vehicle steering assistance has been developed in this paper to help the driver keep the lane during inattention periods. Activated by the front wheels exceeding a predefined central lane strip, the control guarantees to maintain the vehicle within an extended strip in the middle of the lane. Moreover, the assistance torque and the values of the state are bounded for the transient response. The designed control has been obtained as a result of a LMI convex optimization problem

[1]  L. Petersson,et al.  A framework for driver-in-the-loop driver assistance systems , 2005, Proceedings. 2005 IEEE Intelligent Transportation Systems, 2005..

[2]  R. Decarlo,et al.  Perspectives and results on the stability and stabilizability of hybrid systems , 2000, Proceedings of the IEEE.

[3]  Gilles Duc,et al.  Robust control and /spl mu/-analysis with application to lateral driving assistance , 2003, Proceedings of the 2003 IEEE International Conference on Intelligent Transportation Systems.

[4]  M.S. Netto,et al.  Lateral adaptive control for vehicle lane keeping , 2004, Proceedings of the 2004 American Control Conference.

[5]  Sebastien Glaser,et al.  A new strategy for lane departure avoidance , 2006, 2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control.

[6]  Tingshu Hu,et al.  On enlarging the basin of attraction for linear systems under saturated linear feedback , 2000 .

[7]  P. Gahinet,et al.  H∞ design with pole placement constraints: an LMI approach , 1996, IEEE Trans. Autom. Control..

[8]  P Leelavansuk,et al.  STUDY ON LANE-KEEPING ASSISTANCE SYSTEM -- COOPERATIVE STEERING PERFORMANCE FOR DRIVER , 2002 .

[9]  Franco Blanchini,et al.  Set invariance in control , 1999, Autom..

[10]  John S. Zelek,et al.  Towards real-time 3-D monocular visual tracking of human limbs in unconstrained environments , 2005, Real Time Imaging.

[11]  Shuzhi Sam Ge,et al.  Analysis and synthesis of switched linear control systems , 2005, Autom..

[12]  Hiroshi Mouri,et al.  DESIGN OF LANE-KEEPING CONTROL WITH STEERING TORQUE INPUT , 2001 .

[13]  Ronald A. Hess,et al.  A Model of Driver Steering Control Behavior for Use in Assessing Vehicle Handling Qualities , 1993 .

[14]  Karl Henrik Johansson,et al.  Dynamical properties of hybrid automata , 2003, IEEE Trans. Autom. Control..

[15]  Stephen P. Boyd,et al.  Linear Matrix Inequalities in Systems and Control Theory , 1994 .

[16]  M.S. Netto,et al.  H/sub /spl infin//, adaptive, PID and fuzzy control: a comparison of controllers for vehicle lane keeping , 2004, IEEE Intelligent Vehicles Symposium, 2004.

[17]  Uwe Kiencke,et al.  Automotive Control Systems: For Engine, Driveline, and Vehicle , 2000 .