Driver Assistance Fuzzy Control for Vehicle Lane Keeping Systems Based on Road Frequency Range

This paper proposes a robust driver assistance fuzzy control method for vehicle lane keeping systems based on the road frequency range. First of all, taking the varying velocity, uncertain mass and time delay into account, a Takagi-Sugeno fuzzy model is constructed to approximate the global driver-vehicle-road system. Then, considering that the road curvature frequency usually belongs to a certain range, a finite frequency specification is employed to concern the fuzzy control problem of lane-keeping assistance systems. Moreover, based on the Lyapunov stability theory and the finite frequency specification, a set of sufficient conditions in the form of linear matrix inequalities are presented for the computation of desired controllers. Finally, the effectiveness of the proposed method is illustrated by simulations.