Title :
A switched optimized approach for road-departure avoidance: implementation results
Author :
Minoiu, Nicoleta ; Netto, Mariana ; Mammar, Saïd ; Lusetti, Benoït
Author_Institution :
Driver Interactions Res. Unit, Versailles
Abstract :
We present in this contribution the design and implementation of a steering assistance control. The main goal is to avoid the lane departure in case the driver loses attention. This control has been developed to keep the vehicle´s trajectory within certain bounds during the assistance intervention, while maintaining a limited torque control input. In order to achieve this goal we have employed both Lyapunov theory and LMI optimization methods.
Keywords :
Lyapunov methods; linear matrix inequalities; optimisation; road vehicles; torque control; traffic control; LMI optimization methods; Lyapunov theory; assistance intervention; lane departure; limited torque control input; linear matrix inequalities; road-departure avoidance; steering assistance control; switched optimized approach; vehicle trajectory; Automatic control; Control systems; Displacement control; Gravity; Optimal control; Strips; Torque control; Vehicle driving; Vehicle dynamics; Wheels; Automatic steering assistance; LMI; Lyapunov function;
Conference_Titel :
Intelligent Vehicles Symposium, 2007 IEEE
Conference_Location :
Istanbul
Print_ISBN :
1-4244-1067-3
Electronic_ISBN :
1931-0587
DOI :
10.1109/IVS.2007.4290212
