Model reference-based vehicle lateral control for lane departure avoidance

This paper presents the design and practical implementation of a lane departure avoidance assistance for passenger vehicles based on a state feedback dynamic controller. The road curvature is taken into account as an internal model to ensure convergence of the lateral offset to zero at steady state, even on curvy roads. Lyapunov theory and bilinear matrix inequalities including bounds in the control input and constraints for poles clustering are used to minimise the reachable set of the vehicle after activation of the assistance. The proposed control strategy is simulated in CarSim environment and successfully tested on a prototype vehicle.