Vehicle assistance for lane keeping, lane departure avoidance and yaw stability. Approach by simultaneous steering and differential braking

International audienceThis paper proposes a combined vehicle assistance system for lane keeping, lane departure avoidance and yaw stability. The system uses a double actuation: steering and differential braking. The linear feedback control laws with additional feedforward gains for these actuators result from a BMI optimization problem minimizing the reachability set of the system. Simulations with a non linear vehicle model verify the resulted control laws