Citation

Enache NM, Mammar S, Netto M, Lusetti B. IEEE Trans. Intel. Transp. Syst. 2010; 11(1): 28-39.

Copyright

(Copyright © 2010, IEEE (Institute of Electrical and Electronics Engineers))

DOI

10.1109/TITS.2009.2026451

PMID

unavailable

Abstract

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.