Design and Comparison of Two Advanced Driving Assistance Systems for the Lane Keeping in Intelligent Vehicles, Based on $L P V / \mathscr{H}_{\infty}$ and Super-Twisting Sliding Mode (STSM) Control Techniques

Active safety is an important issue that should be considered while driving on the road. To deal with this topic, this paper develops two Advanced Driving Assistance systems (ADASs) for the Lane Keeping in Intelligent Vehicles using steer-by-wire system. The objective of these systems (ADASs) is to assist the driver and help him to keep the lane and to ensure road safety. To do that, a new architecture of ADAS system is developed including the different Driving modes and a Fusion block. The Fusion Block permits the fusion of two inputs of the driver and the ADAS system respectively. Then, the
$L P V / \mathscr{H}_{\infty}$
and the Super-Twisting Sliding Mode (STSM) control techniques are used for the development of ADAS controllers. A decision making layer monitors the driver's behavior and sends instantly the value of the fusion parameter that represents the assistance's percentage, according to the driving situation. The proposed ADAS systems are validated on Matlab/Simulink for a defined scenario with a complete nonlinear model of the vehicle validated on “SCANeR Studio” (OKtal) professional simulator. Finally, a comparison is done between both ADAS controllers to show the difference in behavior and performance of both strategies of control and the effectiveness of ADAS systems in the assistance objective while ensuring road safety.