Control for autonomous vehicles in collision avoidance maneuvers : LPV modeling and static feedback controller

TL;DR

This paper develops a control strategy for autonomous vehicle collision avoidance using LPV modeling and static feedback control, demonstrating vehicle stabilization along a reference path through simulations.

Contribution

It introduces a novel LPV-based control design for vehicle collision avoidance, combining linearization and robust state feedback for improved stabilization.

Findings

Successful stabilization of vehicle in simulations

Effective LPV model derived from nonlinear dynamics

Robust control law ensures trajectory adherence

Abstract

This article presents a state feedback control design strategy for the stabilization of a vehicle along a reference collision avoidance maneuver. The stabilization of the vehicle is achieved through a combination of steering, acceleration and braking. A Linear Parameter-Varying (LPV) model is obtained from the linearization of a non-linear model along the reference trajectory. A robust state feedback control law is computed for the LPV model. Finally, simulation results illustrate the stabilization of the vehicle along the reference trajectory.