LPV Control for μ-split braking assistance of a road vehicle

In this paper, a system is developed to control the yaw moment and the lateral deviation in the case of braking with different adhesion conditions on the left and right sides. A driving assistance is obtained by using the front and rear steering angles. The control law is designed using an extension of the H∞ loop-shaping method to the case of linear parameter-varying (LPV) plants: it allows to obtain a controller whose dynamics depend on the longitudinal speed. The results are evaluated by implementing this controller on a simulation software developed by RENAULT.