Lane keeping and lane departure avoidance by rear wheels steering

The driver active assistances have gained recently in importance and become usual features in commercialized vehicles. Nevertheless, the sharing of the vehicle control with the driver, especially for the steering assistances, is an open issue. The rear wheels steering could be an answer to this question. This study contains the development of a control law for the rear steering able to provide lane departure avoidance and lane keeping. The design of the control law is casted as a LMI (Linear Matrix Inequality) optimization problem in order to take into account constraints, as the rear steering actuator limitation. A modulation factor is added to allow a flexible activation strategy of the rear steering assistance. Preliminary simulation results are presented to explain the concept.