Robust tube-based LPV-MPC for autonomous lane keeping. Issue 35 (2022)

• Record Type: Journal Article
• Authors: Nezami, Maryam; Abbas, Hossam Seddik; Nguyen, Ngoc Thinh; Schildbach, Georg
• Is Part Of: IFAC-PapersOnLine. Volume 55:Issue 35(2022)
• Page Start: 103
• Page End: 108
• Publication Date: 2022
• Subjects: Automotive Dynamic -- Uncertain Systems -- LPVS -- Predictive Control -- Optimal Control -- Robustness Issues; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2022.11.297
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: This paper proposes a control architecture for autonomous lane keeping by a vehicle. In this paper, the vehicle dynamics consist of two parts: lateral and longitudinal dynamics. Therefore, the control architecture comprises two subsequent controllers. A longitudinal model predictive control (MPC) makes the vehicle track the desired longitudinal speeds that are assumed to be generated by a speed planner. The longitudinal speeds are then passed to a lateral MPC for lane keeping. Due to the dependence of the lateral dynamics on the longitudinal speed, they are represented in a linear parameter-varying (LPV) form, where its scheduling parameter is the longitudinal speed of the vehicle. In order to deal with the imprecise information of the future longitudinal speed (the scheduling parameter), a bound of uncertainty is considered around the nominal trajectory of the future longitudinal velocities. Then, a tube-based LPV-MPC is adopted to control the lateral dynamics for attaining the lane keeping goal. In the end, the effectiveness of the proposed methods is illustrated by carrying out simulation tests.