A switched optimized approach for road departure avoidance: implementation results

Nicoleta Minoiu (1) , Mariana Netto (1) , Said Mammar (2) , Benoît Lusetti (1)

1 LIVIC - Laboratoire sur les Interactions Véhicules-Infrastructure-Conducteurs
2 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes

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.

Domaines: Robotique [cs.RO]; Système multi-agents [cs.MA]; Automatique; Mécanique [physics.med-ph]; Mécanique des structures [physics.class-ph]; Automatique / Robotique

Nicoleta Minoiu, Mariana Netto, Said Mammar, Benoît Lusetti. A switched optimized approach for road departure avoidance: implementation results. IEEE Conference Intelligent Vehicles Symposium, 2007, Instanbul, Turkey. pp.787--792, ⟨10.1109/IVS.2007.4290212⟩. ⟨hal-00342844⟩