Piecewise affine state feedback controller for lane departure avoidance


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… (More)
DOI: 10.1109/IVS.2011.5940496

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