Vehicle trajectory control through a piecewise affine approach

"Vehicle trajectory control through a piecewise affine approach" presents the application of hybrid control theory into the development of Advanced Driver Assistance Systems (ADAS). The main objective of this book is the development of an ADAS to avoid unintended lane departure caused by driver inattention or degraded road conditions. Moreover, it comprises an integrated control system which is able to anticipate the steering action by taking into account the environment of the vehicle (exteroceptive signals) such as in a standard lane keeping assistance system and simultaneously cope with strong lateral instability (proprioceptive signals), if needed, as an Electronic Stability Control (ESC). The combination of the characteristics of both systems in one leads to the vehicle safety oriented ADAS, which is named Perceptive-ESC.