Piecewise affine output feedback controller for vehicle lane keeping

Andre Benine-Neto (1) , Saïd Mammar (2)

1 IFSTTAR/LIVIC - Laboratoire sur les Interactions Véhicules-Infrastructure-Conducteurs
2 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes

This paper presents the design and simulation test of a piecewise affine output-feedback controller for vehicle lane keeping. 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 simultaneously a piecewise quadratic Lyapunov function and the piecewise affine regulator and estimator structures. Simulation tests show the controlled car is able to well achieve the standard ISO-3888-2 transient maneuver.

Keywords: Bilinear matrix inequality; Control laws; Design and simulation; Entire domain; Lane keeping; Lateral tire force; Nonlinear behavior; Optimization procedures; Output feedback controller; Output-feedback controllers; Piece-wise quadratic Lyapunov function; Piecewise affine approximation; Piecewise affines; Simulation tests; Tire forces; Transient maneuvers; Vehicle lane keeping

Domains: Automatic

Andre Benine-Neto, Saïd Mammar. Piecewise affine output feedback controller for vehicle lane keeping. American Control Conference (ACC 2012), Jun 2012, Montreal, Canada. pp.6533-6538, ⟨10.1109/ACC.2012.6314735⟩. ⟨hal-00866996⟩