Lateral Driving Assistance Using Robust Control and Embedded Driver-Vehicle-Road Model

This paper addresses the problems of vehicle handling improvement and lane keeping support. The control method uses a coprirne factors and linear fractional t ransfor mat ions (LFT) based feedback and feedforward Hoc control. The control synthesis procedure uses a linear driver-vehicle-model model which includes the yaw motion and disturbance input with speed and road adhesion variations. The synthesis procedure allows the separate processing of reference signal and robust stabilization problem or disturbance rejection. The control action is performed as an additional steering angle and yaw moment generation by differential wheel braking, using a combination of the driver input, feedback of the yaw rate and vehicle positioning . The synthesized controller is tested for different speeds and road conditions on a nonlinear model in both disturbance rejection and driver imposed yaw reference tracking maneuvers and lane keeping.