@article{ref1,
title="Lyapunov Based Performance Guarantees for the Potential Field Lane-Keeping Assistance System",
journal="Journal of dynamic systems, measurement and control",
year="2006",
author="Rossetter, Eric J. and Christian Gardes, J",
volume="128",
number="3",
pages="510-522",
abstract="Active lane-keeping assistance systems hold the potential to save thousands of lives every year, but require an approach that can simultaneously work cooperatively with the driver and provide a guaranteed level of safety. One approach that meets these dual demands is to passively couple the vehicle to the environment using the paradigm of &quot;artificial&quot; potential fields. This paper develops such a controller and demonstrates that with appropriate choice of a preview or look-ahead distance, the lateral and yaw dynamics effectively decouple, enabling a tight energy-based bound on lateral error. Since this control scheme does not attempt to track a desired trajectory, disturbances encountered during normal driving (such as road curvature) will alter the path of the vehicle. However, the energy theoretic framework can be used to develop a Lyapunov-based bound that handles general time-varying disturbances. This technique provides bounds on the lateral motion of the vehicle that are sufficiently tight to use as a design tool. Experimental results verify that this bound, and the system structure itself, work well in practice, providing guaran teed assistance in a cooperative manner.   <p>Language: en</p>",
language="en",
issn="0022-0434",
doi="",
url="http://dx.doi.org/"
}