Integrated driver co-pilote approach for vehicle lateral control

Abstract : This paper considers the integrated control for driver assistance during lane keeping and obstacle avoidance maneuver. The proposed approach handles the driver activity, namely the torque, in order to provide progressive assistance intrusion. The design method allows addressing both underloaded and obverloaded situations. The model formulation uses the Takagi-Sugeno formalism which allows a design procedure ensuring stability performance for the whole nonlinear system. The obtained controller is successfully tested on lane keeping maneuvers.
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Conference papers
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https://hal.archives-ouvertes.fr/hal-01059418
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Submitted on : Sunday, August 31, 2014 - 2:18:55 PM
Last modification on : Monday, October 28, 2019 - 11:00:10 AM

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Naima Ait Oufroukh, Saïd Mammar. Integrated driver co-pilote approach for vehicle lateral control. 25th IEEE Intelligent Vehicles Symposium (IV 2014), Jun 2014, Dearborn, MI, United States. pp.1163--1168, ⟨10.1109/IVS.2014.6856519⟩. ⟨hal-01059418⟩

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