A lateral control assistant for the dynamic model of vehicles subject to state constraints
Jingjing Jiang, Alessandro Astolfi · 2017
An assistant control scheme for the dynamic model of a car to help the driver track a given reference or to keep the car in a given lane while making sure that all the system states satisfy pre-defined constraints is given. The assistant control algorithm is based on a hysteresis switch and the formal properties of the closed-loop system are studied via a Lyapunov-like analysis. Simulation results showing the effectiveness of the driving assistance system are presented.