Design And Experimental Validation Of A Lateral LPV Control Of Autonomous Vehicles

Abstract

This paper presents a multi-scenario full-range speed lateral automated vehicle controller. A speed-dependent LPV model is designed to deal with two different situations: 1) vehicle tracking capabilities to follow a pre-defined trajectory; and 2) vehicle response to sudden reference changes as occur either when activating the automated system for the first time or when performing a lane-change. The proposed solution is based on the Linear Parameter Varying (LPV) control approach, where an output-feedback dynamical controller is designed based on the Linear Matrix Inequalities (LMIs). The control synthesis is carried out using the Linear Fractional Transformation approach, to reduce the conservatism, combined with the $\mathcal{H}_{\infty}$ control problem. Simulation results show the tracking performance and the smoothness of the control inputs which provides a comfortable riding. Finally, the algorithm has been implemented on a robotized Renault ZOE and validates on test tracks, providing encouraging results. <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">*</sup> Institute of Engineering Univ. Grenoble Alpes