Piecewise affine state feedback controller for lane departure avoidance

Author

Benine-Neto, André ; Mammar, Saïd

Author_Institution

LIVIC, IFSTTAR, Versailles, France

fYear

2011

fDate

5-9 June 2011

Firstpage

839

Lastpage

844

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 tire forces through piecewise affine approximations of the tire forces nonlinear behavior. The computation of the control law is casted as Bilinear Matrix Inequalities optimization procedure which is solved using the V-K-method to find a piecewise quadratic Lyapunov function and the state feedback gain. Simulations show the improved performance of the controller on degraded road adhesion conditions.

Keywords

Lyapunov methods; accident prevention; collision avoidance; linear matrix inequalities; optimisation; piecewise linear techniques; road traffic; roads; state feedback; V-K method; bilinear matrix inequalities optimization; lane departure avoidance; lane keeping assistance system; lateral tire force; passenger vehicle; piecewise affine approximation; piecewise affine state feedback controller; piecewise quadratic Lyapunov function; road adhesion condition; tire forces nonlinear behavior; Approximation methods; Driver circuits; Mathematical model; Tires; Vehicle dynamics; Vehicles; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Vehicles Symposium (IV), 2011 IEEE

Conference_Location

Baden-Baden

ISSN

1931-0587

Print_ISBN

978-1-4577-0890-9

Type

conf

DOI

10.1109/IVS.2011.5940496

Filename

5940496