Piecewise affine control for lane departure avoidance

This article presents the design of a lane departure avoidance system which is conceived to operate even in demanding manoeuvres with respect to the lateral vehicle dynamics. Piecewise affine state feedback and output feedback controllers are used to handle the nonlinear behaviour of the lateral tyre forces. The controllers are designed based on the search of a piecewise quadratic Lyapunov function casted as a bilinear matrix inequalities problem. Experimental tests demonstrate the performance of the controller in degraded road conditions.

• Record URL:
  https://doi.org/10.1080/00423114.2013.783220
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/00423114
• Supplemental Notes:
  • Abstract reprinted with permission from Taylor & Francis.
• Authors:
  • Benine-Neto, André
  • Mammar, Saïd
  • Lusetti, Benoit
  • Scalzi, Stefano
• Publication Date: 2013-8

Language

• English

Media Info

• Media Type: Web
• Features: Figures; References; Tables;
• Pagination: pp 1121-1150
• Serial:
  • Vehicle System Dynamics
  • Volume: 51
  • Issue Number: 8
  • Publisher: Taylor & Francis
  • ISSN: 0042-3114
  • EISSN: 1744-5159
  • Serial URL: https://www.tandfonline.com/toc/nvsd20/current

Subject/Index Terms

• TRT Terms: Automatic steering control; Driver support systems; Feedback control; Lane changing; Motor vehicle dynamics; Performance; Steering
• Subject Areas: Highways; Vehicles and Equipment; I91: Vehicle Design and Safety;

Filing Info

• Accession Number: 01499526
• Record Type: Publication
• Files: TRIS
• Created Date: Nov 21 2013 9:21AM