This paper presents the design and the practical implementation of vehicle steering assistance that helps the driver avoid unintended lane departure. A switching strategy is built to govern the driver-assistance interaction, and the resulting hybrid system is formalized as an input/output (I/O) hybrid automaton. Composite Lyapunov functions, polyhedral-like invariant sets, and linear matrix inequality (LMI) methods constitute the heart of the approach used to design the lane-departure avoidance (LDA) system. The practical implementation of this steering assistance in a prototype vehicle confirms the effectiveness of this approach.


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    Title :

    Driver Steering Assistance for Lane-Departure Avoidance Based on Hybrid Automata and Composite Lyapunov Function


    Contributors:
    Enache, N.M. (author) / Mammar, S. (author) / Netto, M. (author) / Lusetti, B. (author)


    Publication date :

    2010-03-01


    Size :

    420408 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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