| LMI-BASED H∞ LATERAL CONTROL OF AN AUTONOMUS VEHICLE BY LOOK-AHEAD SENSING |
| C. S. KIM, S. Y. KIM, J. H. RYU, M. H. LEE |
| Pusan National University |
|
|
|
|
|
| ABSTRACT |
|
This paper presents the lateral control of an autonomous vehicle by using a look-ahead sensing system. In look-ahead sensing by an absolute positioning system, a reference lane, constructed by straight lanes or circular lanes, was switched by a segment switching algorithm. To cope with sensor noise and modeling uncertainty, a robust LMI-based H∞ lateral controller was designed by the feedback of lateral offset and yaw angle error at the vehicle look-ahead. In order to verify the safety and the performance of lateral control, a scaled-down vehicle was developed and the location of the vehicle was detected by using an ultrasonic local positioning system. In the mechatronic scaled-down vehicle, the lateral model and parameters are verified and estimated by a J-turn test. For the lane change and reference lane tracking, the lateral controllers are used experimentally. The experimental results show that the H∞ controller is robust and has better performance compared with look-down sensing. |
| Key Words:
Autonomous vehicle, Lateral control, LMI based H∞ control, Look-ahead sensing, Ultrasonic local |
|
Preview
Full text via DOI 
Download Citation 
Print 
