A Robust Steering Assistance System for Road Departure Avoidance

Author

Alirezaei, M. ; Corno, Matteo ; Katzourakis, D. ; Ghaffari, A. ; Kazemi, R.

Author_Institution

Dept. of Mech. Eng., K.N. Toosi Univ., Tehran, Iran

Volume

61

Issue

5

fYear

2012

fDate

6/1/2012 12:00:00 AM

Firstpage

1953

Lastpage

1960

Abstract

A driver-assistance system (DAS) that combines an automatic road departure avoidance (RDA) system with the driver´s steering input is presented. The system is based on a closed-loop driver decision estimator (DDE), which establishes the risk of road departure. If a road departure is likely to occur, the RDA system intervenes by correcting the steering angle. Robustness is guaranteed by an H_inf controller designed to take into consideration the main uncertainties affecting the dynamics. Driver-in-the-loop tests evaluate the performance of the system in terms of robustness, risk of road departure, and driving experience. Experiments show that the system is effective in reducing the risk of road departure without impeding maneuverability.

Keywords

closed loop systems; control engineering computing; control system synthesis; driver information systems; performance evaluation; road accidents; road safety; robust control; steering systems; DAS; DDE; RDA system; automatic road departure avoidance system; closed-loop driver decision estimator; controller design; driver steering input; driver-assistance system; driver-in-the-loop tests; driving experience; maneuverability; performance evaluation; road departure risk; robust steering assistance system; robustness; steering angle; Control systems; Roads; Robustness; Uncertainty; Vehicle dynamics; Vehicles; Wheels; Intelligent transportation systems; road departure avoidance (RDA); robust control design;

fLanguage

English

Journal_Title

Vehicular Technology, IEEE Transactions on

Publisher

ieee

ISSN

0018-9545

Type

jour

DOI

10.1109/TVT.2012.2191001

Filename

6172254