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Abstract
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.
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Published on 01/01/2016
Volume 2016, 2016
DOI: 10.1109/cdc.2016.7798632
Licence: CC BY-NC-SA license
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