Lane-keeping assistance systems hold the promise to save thousands of lives every year by preventing unintended lane departure. The potential field lane-keeping assistance system assists the driver in the lane-keeping task by effectively placing the vehicle in an artificial potential well with minimum at lane centre. Previous work mathematically guarantees the performance of the system in the linear region of tire forces, but no guarantees of performance or even stability exist for saturating tires. These guarantees are crucial to ensure safety when the vehicle speed is too high for a given turn or the friction coefficient of the road is low due to surface conditions. Ways are explored to numerically find Lyapunov functions for a vehicle with lane-keeping assistance and realistic tires. First the nonlinearity is modelled as a sector bounded disturbance, and a Lyapunov function is found for all vehicle trajectories that fit this sector bounded disturbance. Next, a polynomial fit is performed on the HSRI tire model, and a Lyapunov function is found for these polynomial dynamics. Each of these approaches provides Lyapunov functions valid well into the nonlinear region.
Guaranteeing lanekeeping performance with tire saturation using computed polynomial Lyapunov functions
Garantierte Fahrspurhaltung bei Reifensättigung mittels berechneten, polynomischen Lyapunov-Funktionen
2005
10 Seiten, 11 Bilder, 1 Tabelle, 11 Quellen
Aufsatz (Konferenz)
Englisch
Lanekeeping at the handling limits
Tema Archiv | 2008
|Combining Lanekeeping and Vehicle Following with Hazard Maps
Taylor & Francis Verlag | 2001
|An Energy Based Performance Bound for Lanekeeping Assistance with Force Feedback
British Library Conference Proceedings | 2006
|Europäisches Patentamt | 2015
|British Library Online Contents | 2015
|