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In this paper, a steering assistance system is designed and experimentally tested on a prototype passenger vehicle. Its main goal is to avoid lane departures when the driver has a lapse of attention. Based on a concept linking Lyapunov theory with Linear Matrix Inequalities (LMI) optimization, the following important features are ensured during the assistance intervention: the vehicle remains within the lane borders while converging towards the centerline, and the torque control input and the vehicle dynamics are limited to safe values to ensure the passengers' comfort. Because the steering assistance takes action only if necessary, two activation strategies have been proposed. Both activation strategies were tested on the prototype vehicle and were assessed as appropriate. However, the second strategy showed better reactivity in case of rapid drifting out of the lane.

This paper presents the design and the simulation test of a Takagi-Sugeno (TS) fuzzy lane keeping output feedback controller. The vehicle control law has been developed based on invariant sets and quadratic boundedness theory, based on a common quadratic function. The TS fuzzy model is able to handle elegantly the nonlinear behavior the vehicle lateral dynamics. The computation of the control law has been achieved using Linear and Bilinear Matrix Inequalities (LMI-BMI) methods. Some design parameters can be adjusted to handle the tradeoff between safety constraints and comfort specifications.

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Single-vehicle road departure accidents represent a substantial amount of today’s accidents. This paper presents the design and experimental test of an active steering assistance system that offers two functions: lane departure avoidance by temporary activation and maintaining vehicle heading by permanent activation. Each of the two functions can be used exclusively or in combination. Specific constraints related to each of the two functions are taken into account in the control design of the steering assistance by using LMI (linear matrix inequality) and BMI (bilinear matrix inequality) optimization methods. Consequently, lane overshoot is minimized for assistance activations near the border of the lane even during curve negotiation and robust lane keeping is ensured. Furthermore, the effects on lane keeping performance of simultaneous steering by the driver and the assistance are theoretically quantified. The results are verified using a fully equipped prototype vehicle. The obtained field test is consistent with the expected performance.

International audienceThis paper proposes an active steering assistance system that could act as lane departure avoidance and lane keeping system. The assistance has been designed initially for a lane departure avoidance purpose. In this paper the driver-assistance interaction is studied with the objective to allow a permanent system activation and hence a lane keeping functionality. The lane keeping performance of the assistance system is analyzed while the driver is intervening. More specifically, bounds for the lane keeping performance are theoretically computed and experimentally validated