Design of an LPV-based integrated control for driver assistance systems

The paper proposes the control design of a driver assistance system which integrates the brake, the steering, and the suspension systems. During vehicle maneuvers the control system generates the brake yaw moments, the auxiliary front steering angle and the camber angles of the wheels. The performance specifications such as trajectory tracking and road stability are guaranteed by the local controllers, while the coordination of the components is provided by the supervisor. The independent design of local controllers requires that monitoring signals are built in the performance specifications of the control design. The role of the robust LPV methods, which are able to handle parameter-dependent performances and guarantee performance requirements, is crucial. The main steps of the integrated control from the modeling to the control design are presented. The operation of the control system is illustrated through simulation examples.