Robust road departure avoidance based on driver decision estimation

In this paper a robust road departure avoidance system based on a closed-loop driver decision estimator (DDE) is presented. The goal is that of incorporating the driver intent in the control of the vehicle. The proposed system ensures that the vehicle remains within the road borders with minimal effect on the driver demand. Numerical simulations show the effectiveness and robustness of the proposed approach. A comparison between the presented method and the generalization of methods available in the literature is presented. © 2011 IFAC.