Abstract
This paper presents a steering assistance system that prevents unintended lane departures. The assistance intervenes only when the driver is inattentive and the vehicle is about to leave the lane. Road curvatures represent a challenge for the control law concerning the lane keeping performance as well as the lane overshoot in the case of activation in curves. To address these issues, the control law has been designed by using invariant sets theory and bilinear matrix inequalities optimization methods. Field tests have shown the theoretical expectations to be fulfilled and have demonstrated the high robustness properties of the implemented control law.
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