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Robust controller for an autonomous vehicle with look-ahead and look-down information

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Abstract

For the lateral control of an autonomous vehicle, this paper proposes a linear-matrix-inequality (LMI)-based H∞ control algorithm that utilizes the feedback of the lateral offset and target yaw angle at the preview point, which is effective for the fusion of look-ahead and look-down sensors. To verify the performance of this controller, lane change and circular lane tracking simulations are carried out in multi body dynamics. Against the uniformly random noises in position and yaw angle and the constant modeling uncertainties in mass and cornering stiffness, the robustness of the proposed algorithm is compared with the cubic curve method and the heading angle method at the look-ahead target lane.

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Authors and Affiliations

  1. Department of Mechatronics Engineering, Kyungsung University, Busan, 608-736, Korea

    Ju Yong Choi

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  1. Ju Yong Choi
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Correspondence to Ju Yong Choi.

Additional information

This paper was recommended for publication in revised form by Associate Editor Kyongsu Yi

Ju Yong Choi received his B.S., M.S., and Ph.D degrees in 1998, 2000, and 2005 from the Pusan National University, Korea. From 2005 to 2009, he worked in Hyundai-Kia R&D Center and he was a senior researcher at the automotive parts innovation center from 2009 to 2011. He is currently a professor at Kyungsung University. His research interests are in the area of autonomous vehicle, chassis control system and hardware-in-the-loop simulation system.

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Choi, J.Y. Robust controller for an autonomous vehicle with look-ahead and look-down information. J Mech Sci Technol 25, 2467–2474 (2011). https://doi.org/10.1007/s12206-011-0734-z

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  • DOI: https://doi.org/10.1007/s12206-011-0734-z

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