Control Lyapunov Function-based Assist Control of Lane Keeping *

Mathematically, lane-keeping control should make the lane forward invariant and attractive. The asymptotic stability of a set is defined as an assortment of these properties. We introduce a VminLyapunov function that guarantees asymptotic stability. Moreover, we propose asymptotic stability assist control. Asymptotic stability assist control uses the control Lyapunov function and makes a certain sublevel set of the control Lyapunov function asymptotically stable. We reveal the relationship between asymptotic stability assist control and asymptotic stability. The validity of asymptotic stability assist control was investigated using a numerical example. We confirmed that asymptotic stability assist control can be applied to lane-keeping tasks using a simplified mobile vehicle model.