A Novel Incremental Control Method Based on H-infinity Control for Lane Keeping Assist

The lane keeping assist, as one of the advanced driver assist systems, has the potential to significantly prevent lane departure accidents. This paper presents an innovative lane keeping control strategy based on the incremental control, which may be used to implement improvement of comfort. For reducing the control error, the preview control is deployed in the lateral dynamic control with the curvature of road. Then, a curvature fusion estimation method based on the Kalman filter is introduced with the combination of the kinematic model and the dynamic model of vehicle. The control stability is the key to possess a excellent control performance for a control system. Therefore, the H
∞
control theory, a powerful robust control tool with the ability of restraining noise, is applied in the controller of the lane keeping assist. The effectiveness of the proposed approach is demonstrated using simulations for relevant traffic scenarios.