Name
Abstract | ||
|---|---|---|
This paper presents the design and simulation tests of a lane keeping assistance system for passenger vehicles based on a piecewise affine state feedback controller. The design of the proposed lane keeping system takes into account the entire domain of lateral tire forces through piecewise affine approximations of the tire forces nonlinear behavior. The computation of the control law is casted as Bilinear Matrix Inequalities optimization procedure which is solved using the V-K-method to find a piecewise quadratic Lyapunov function and the state feedback gain. Simulations show the improved performance of the controller on degraded road adhesion conditions. |
Year | DOI | Venue |
|---|---|---|
2011 | 10.1109/IVS.2011.5940496 | Intelligent Vehicles Symposium |
Keywords | Field | DocType |
Lyapunov methods,accident prevention,collision avoidance,linear matrix inequalities,optimisation,piecewise linear techniques,road traffic,roads,state feedback,V-K method,bilinear matrix inequalities optimization,lane departure avoidance,lane keeping assistance system,lateral tire force,passenger vehicle,piecewise affine approximation,piecewise affine state feedback controller,piecewise quadratic Lyapunov function,road adhesion condition,tire forces nonlinear behavior | Affine transformation,Control theory,Nonlinear system,Full state feedback,Control theory,Vehicle dynamics,Piecewise quadratic lyapunov function,Engineering,Piecewise,Computation | Conference |
ISSN | ISBN | Citations |
1931-0587 | 978-1-4577-0890-9 | 4 |
PageRank | References | Authors |
0.53 | 9 | 2 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| André Benine-Neto | 1 | 9 | 3.58 |
| Saïd Mammar | 2 | 337 | 46.86 |