1 research outputs found
A Dual-Level Lane Departure Avoidance System Based on Differential Torque
This paper presents a lane departure avoidance
system which exploits differential torque delivered to the four
wheels as actuation. The system is designed to avoid unsafe
lane change due to drowsiness (unintentional maneuver) or
inattention (intentional maneuver) and is composed by two
levels. A high-level supervisor controls closure of a lateral
position control loop by means of a 4-conditions switching
rule; a low-level controller is in charge of regulating the
vehicle lateral position to the reference value. At first, a
model of the system is derived, which describes the dynamics
from the control input and steering angle, which acts as a
disturbance, to the lateral position. Then, the supervisor is
presented and the low-level controller is tuned within the HÂ¥
framework, with a gain-scheduling term that compensates for
speed variations. Finally, the system is shown to be able to
stabilize the system without applying excessive control action
during typical intentional maneuvers and to keep the vehicle in
lane during standard unintentional maneuvers with less than
0,35m error, during straight highway driving