Design of an integrated control for driver assistance systems based on LPV methods

Author

Caspar, P. ; Nemeth, Balazs ; Bokor, Jozsef

Author_Institution

Syst. & Control Lab., Comput. & Autom. Res. Inst., Budapest, Hungary

fYear

2012

fDate

27-29 June 2012

Firstpage

2916

Lastpage

2921

Abstract

The paper proposes the control design of a driver assistance system which integrates the brake, the steering, and a variable-geometry suspension system. In the control scheme a predefined road trajectory required by the driver with a steering command is followed to carry out various maneuvers. During maneuvers the control system generates the brake moments, modifies the front steering angle and changes the camber angles of the rear wheels. The control system must guarantee various crucial vehicle performances such as trajectory tracking and road stability. An actuator selection method in the control design is developed. A cruise control system based on robust LPV (Linear Parameter Varying) methods is designed with the emphasis on predefined velocity and path considerations.

Keywords

brakes; centralised control; control system synthesis; driver information systems; road traffic control; stability; steering systems; suspensions (mechanical components); trajectory control; LPV methods; actuator selection method; brake; control design; driver assistance systems; integrated control; linear parameter varying methods; road stability; road trajectory; steering; trajectory tracking; variable-geometry suspension system; Actuators; Suspensions; Tires; Trajectory; Vehicles; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference (ACC), 2012

Conference_Location

Montreal, QC

ISSN

0743-1619

Print_ISBN

978-1-4577-1095-7

Electronic_ISBN

0743-1619

Type

conf

DOI

10.1109/ACC.2012.6315152

Filename

6315152