Design of a lane departure driver-assist system under safety specifications
Daniel Hoehener, Huang Geng, Domitilla Del Vecchio · 2016
We use a controlled invariance approach to design a semi-autonomous lane departure assist system that is guaranteed to keep the vehicle in the lane. The controlled invariant safe set is the set of system states from which an input exists that can keep the vehicle in the lane. First we provide theoretical conditions under which this set has a simple characterization and can be computed in real-time. We then use this characterization to derive a feedback strategy that keeps the vehicle in the lane and overrides the driver only if he/she could otherwise force a future lane departure.