Title: Model reference-based vehicle lateral control for lane departure avoidance

Authors: André Benine-Neto; Stefano Scalzi; Saïd Mammar; Mariana Netto; Benoit Lusetti

Addresses: Institut Polytechnique de Bordeaux, Laboratoire de l'intégration, du matériau au système (IMS) CNRS: UMR5218, Université de Bordeaux, F33405, Talence Cedex, France ' Electronic Engineering Department, University of Rome Tor Vergata, 1 via del Politecnico, 00133, Rome, Italy ' IBISC - EA 4526 UEVE, 40 rue du Pelvoux CE1455, 91020, Evry, Cedex, France ' IFSTTAR - LIVIC, 14 Route de la Minière, 78000, Versailles, France ' IFSTTAR - LIVIC, 14 Route de la Minière, 78000, Versailles, France

Abstract: This paper presents the design and practical implementation of a lane departure avoidance assistance for passenger vehicles based on a state feedback dynamic controller. The road curvature is taken into account as an internal model to ensure convergence of the lateral offset to zero at steady state, even on curvy roads. Lyapunov theory and bilinear matrix inequalities including bounds in the control input and constraints for poles clustering are used to minimise the reachable set of the vehicle after activation of the assistance. The proposed control strategy is simulated in CarSim environment and successfully tested on a prototype vehicle.

Keywords: invariant sets; BMI; bilinear matrix inequality; driving assistance systems; vehicle lateral control; lane departure avoidance; autonomous vehicles; model reference control; feedback control; dynamic control; road curvature; Lyapunov theory; control strategy; simulation.

DOI: 10.1504/IJVAS.2014.063044

International Journal of Vehicle Autonomous Systems, 2014 Vol.12 No.3, pp.284 - 306

Received: 02 Nov 2013
Accepted: 10 Apr 2014
Published online: 29 Oct 2014 *

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