In this paper a robust road departure avoidance system based on a closed-loop driver decision estimator (DDE) is presented. The main idea is that of incorporating the driver intent in the control of the vehicle. The driver decision estimator computes the vehicle look ahead lateral position based on the driver input and uses this position to establish the risk of road departure. To induce a risk...

in this paper a robust road departure avoidance system based on a closed-loop driver decision estimator (dde) is presented. the main idea is that of incorporating the driver intent in the control of the vehicle. the driver decision estimator computes the vehicle look ahead lateral position based on the driver input and uses this position to establish the risk of road departure. to induce a risk...

This paper presents an active safety system for avoiding obstacles and preventing road departures by means of assistance in steering and braking. A Nonlinear Model Predictive Controller (NMPC) is designed with the goal of using the minimum control intervention to keep the driver safe. The NMPC uses a nonlinear vehicle and driver steering model to predict a collision or a roadway departure. The ...

The availability of active safety systems, such as Lane Departure Warning (LDW), has recently been added as a rating factor in the U.S. New Car Assessment Program (NCAP). The objective of this study is to determine the relevance of the NCAP LDW confirmation test to real-world road departure crashes. This study is based on data collected as part of supplemental crash reconstructions performed on...

This paper describes the design of an optimal-control-based active safety framework that performs trajectory planning, threat assessment, and semiautonomous control of passenger vehicles in hazard avoidance scenarios. The vehicle navigation problem is formulated as a constrained optimal control problem with constraints bounding a navigable region of the road surface. A model predictive controll...

Identification of driver state is a desirable element of many proposed vehicle active safety systems (e.g., collision detection and avoidance, automated highway, and road departure warning systems). In this paper, driver state assessment is considered in the context of a road departure warning and intervention system. A system identification approach, using vehicle lateral position as the input...

Road departures account for nearly one-third of all fatal crashes. Lane departure warning (LDW) and lane departure prevention (LDP) have the potential to mitigate the number of crashes and fatalities that result from road departure crashes. The objective of this study was to predict the effectiveness of LDW and LDP in preventing road departure crashes if all vehicles in departure crashes in the...

In this paper, a steering assistance system is designed and experimentally tested on a prototype passenger vehicle. Its main goal is to avoid lane departures when the driver has a lapse of attention. Based on a concept linking Lyapunov theory with Linear Matrix Inequalities (LMI) optimization, the following important features are ensured during the assistance intervention: the vehicle remains w...

This paper presents a Road Detection and Tracking algorithm for Lane Departure Warning Systems. An inverse perspective transformation gives a bird-eye view of the road, where longitudinal road markings are detected by exploration of horizontal gradient, looking for a road marking model. Next, a parabolic lane model is fitted to road markings and tracked through a particle filter. The right and ...