A switched optimized approach for road-departure avoidance: implementation results

Abstract

We present in this contribution the design and implementation of a steering assistance control. The main goal is to avoid the lane departure in case the driver loses attention. This control has been developed to keep the vehicle's trajectory within certain bounds during the assistance intervention, while maintaining a limited torque control input. In order to achieve this goal we have employed both Lyapunov theory and LMI optimization methods.