A lane control mechanism with fault tolerant control capabilities


F. Stoican, Minoiu Enache, N., and Olaru, S., “A lane control mechanism with fault tolerant control capabilities”, in Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference, Orlando, Florida, USA, 2011, p. 2245–2250.

Date Published:

12-15 December

ISBN Number:



The paper discusses the problem of lane departure avoidance for a vehicle. A corrective mechanism imposes its control action whenever the vehicle is no longer inside a nominal region centered along the middle of the lane. Set theoretic methods are used in order to design this control action and to guarantee global stability. Additionally, for the same lane departure avoidance system, a fault tolerant control mechanism is proposed in order to discard faulty sensors in a redundant measurement setting, thus guaranteeing stability even in the presence of faults.