Driver Steering Assistance for Lane-Departure Avoidance Based on Hybrid Automata and Composite Lyapunov Function

This paper presents the design and the practical implementation of vehicle steering assistance that helps the driver avoid unintended lane departure. A switching strategy is built to govern the driver–assistance interaction, and the resulting hybrid system is formalized as an input/output (I/O) hybrid automaton. Composite Lyapunov functions, polyhedral-like invariant sets, and linear matrix inequality (LMI) methods constitute the heart of the approach used to design the lane-departure avoidance (LDA) system. The practical implementation of this steering assistance in a prototype vehicle confirms the effectiveness of this approach.