Integrated control design for driver assistance systems based on LPV methods

ABSTRACT

The paper proposes a control design method for a driver assistance system. In the operation of the system, a predefined trajectory required by the driver with a steering command is followed. During manoeuvres the control system generates differential brake moment and the auxiliary front-wheel steering angle and changes the camber angles of the wheels in order to improve the tracking of the road trajectory. The performance specifications are guaranteed by the local controllers, i.e. the brake, the steering, and the suspension systems, while the coordination of these components is provided by the supervisor. The advantage of this architecture is that local controllers are designed independently, which is ensured by the fact that the monitoring signals are taken into consideration in the formalisation of their performance specifications. The fault-tolerant control can be achieved by incorporating the detected fault signals in their performance specifications. The control system also uses a driver model, with which the reference signal can be generated. In the control design, the parameter-dependent linear parameter-varyingmethod, which meets the performance specifications, is used. The operation of the control system is illustrated through different normal and emergency vehicle manoeuvres with a high-accuracy simulation software.

KEYWORDS:

• Integrated control
• LPV control
• robust stability and performance
• decentralised control
• vehicle control

Additional information

Funding

The research was supported by the National Research, Development, and Innovation Fund through the project ‘SEPPAC: Safety and Economic Platform for Partially Automated Commercial vehicles’ [grant number VKSZ 14-1-2015-0125]. This paper was partially supported by the János Bolyai Research Scholarship of the Hungarian Academy of Sciences.