@article{ref1,
title="Driver Steering Assistance for Lane-Departure Avoidance Based on Hybrid Automata and Composite Lyapunov Function",
journal="IEEE transactions on intelligent transportation systems",
year="2010",
author="Enache, N.m. and Mammar, S. and Netto, M. and Lusetti, B.",
volume="11",
number="1",
pages="28-39",
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.<p />",
language="",
issn="1524-9050",
doi="10.1109/TITS.2009.2026451",
url="http://dx.doi.org/10.1109/TITS.2009.2026451"
}