Gain-scheduling LPV synthesis H∞ robust lateral motion control for path following of autonomous vehicle via coordination of steering and braking

Abstract

This paper proposes a robust gain-scheduling lateral motion control strategy via coordination of the active front-wheel steering (AFS) and direct yaw moment control (DYC) for path following of autonomous vehicle. Distinguishing from other relevant researches, a seamless application of the DYC is designed to reduce the influence of braking for the vehicle longitudinal dynamics. In order to achieve this objective, the weighting function with a self-scheduling parameter is designed. Based on the above, a novel LPV (Linear Parameter Varying) synthesis H∞ performances lateral motion controller is designed considering the vehicle longitudinal velocity as a time-varying parameter. The path following is realised through achieving a desired yaw rate, which is generated based on the path-following dynamics. The feedback gains can be derived by solving the LMI (Linear Matrix Inequalities). Furthermore, the physical limitations of the actuators (steer-by wire and brake-by-wire) are considered by weighting functions. Finally, experiments in the HIL system are carried out to verify the effectiveness and real-time performance of the proposed control strategy, and the results show that the proposed controller has good tracking capability under different manoeuvres and can reduce the possibility of actuator saturation and the influence of braking for the vehicle longitudinal dynamics.