Driver steering assistance for lane-departure avoidance based on hybrid automata and composite Lyapunov function

Authors:
Nicoleta Minoiu Enache;Saïd Mammar;Mariana Netto;Benoit Lusetti
Affiliations:
LIVIC, A Research Laboratory for Advanced Driving Assistance Systems, LCPC, French National Research Institute on Civil Engineering and French National Institute on Transportation and Safety, Vers ...;Informatics, Integrative Biology, and Complex Systems Laboratory, Centre National de la Recherche Scientifique, Université d'Evry Val d'Essonne, Evry, France;LIVIC, A Research Laboratory for Advanced Driving Assistance Systems, LCPC, French National Research Institute on Civil Engineering and French National Institute on Transportation and Safety, Vers ...;LIVIC, A Research Laboratory for Advanced Driving Assistance Systems, LCPC, French National Research Institute on Civil Engineering and French National Institute on Transportation and Safety, Vers ...
Venue:
IEEE Transactions on Intelligent Transportation Systems
Year:
2010

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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.