Linear Parameter Varying Design for Lateral Control using Kinematics of Vehicle Motion

Abstract

In this paper, we propose a novel scheme to control the lateral motion of a vehicle using the kinematic model of vehicle. The kinematic lateral motion control problem for lane keeping system is reformulated as the linear parameter varying (LPV) system which depends on online accessible time varying parameters. Both vehicle speed and look-ahead distance are considered as varying parameters which reflect actual driving situations. The LPV scheme becomes an optimal control gain scheduling problem satisfying the stability of the time varying system without degradation of system performance. The optimal control gain is obtained using convex interpolation in the H2 sense using linear matrix inequality approach. The proposed method was demonstrated via performance comparison with nominal controller using a fixed speed and look-ahead distance.