Published June 12, 2018
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Shared-Control for the Lateral Motion of Vehicles
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Car accidents caused by driver's fatigue, inattention, drowsiness and illness are one of the leading reasons for preventable fatalities and injuries on the road. This paper studies the assistant driving problem for the nonlinear lateral dynamic model of vehicles in the lane keeping case. By means of the developed controller the car is able to keep itself in a given lane even if the human driver does not drive properly. The shared-control algorithm is based on a hysteresis switch and the formal properties of the closed-loop system are established via a Lyapunov-like analysis. Simulation results are presented to show the effectiveness of the driving assistant system.
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2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. J. Jiang and A. Astolfi, "Shared-Control for the Lateral Motion of Vehicles," European Control Conference (ECC), Limassol, Cyprus, June 2018, pp. 225-230. doi: 10.23919/ECC.2018.8550429.
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