A lateral control assistant for the dynamic model of vehicles subject to state constraints

An assistant control scheme for the dynamic model of a car to help the driver track a given reference or to keep the car in a given lane while making sure that all the system states satisfy pre-defined constraints is given. The assistant control algorithm is based on a hysteresis switch and the form...

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Bibliographic Details
Published inCDC : 2017 IEEE 56th annual Conference on Decision and Control : 12-15 December 2017 pp. 244 - 249
Main Authors Jingjing Jiang, Astolfi, Alessandro
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2017
Subjects
Adaptive control
Automobiles
Closed loop systems
Mathematical model
Roads
Vehicle dynamics
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Summary:An assistant control scheme for the dynamic model of a car to help the driver track a given reference or to keep the car in a given lane while making sure that all the system states satisfy pre-defined constraints is given. The assistant control algorithm is based on a hysteresis switch and the formal properties of the closed-loop system are studied via a Lyapunov-like analysis. Simulation results showing the effectiveness of the driving assistance system are presented.
DOI:10.1109/CDC.2017.8263673