Multi-objective Seamless Self-scheduling Controller Design for Heavy Commercial Vehicle Lateral Automation: An LPV/ ℋ_∞ Approach

Modern intelligent road transportation system raises new requirements for advanced vehicle control technology of automated heavy commercial vehicle (HCV). This paper develops a novel output feedback-based linear parameter varying (LPV)/ℋ_∞ control paradigm for automated HCV to achieve multi-objective dynamic coordinated control. The proposed control paradigm aims at keeping vehicle centered with respect to the lane boundaries while achieving better roll stability by applying appropriate steering action. The main idea is to schedule tracking performance and roll stability by adjusting steering action according to HCV rollover risk evaluated by the rollover index (RI) estimator during automatic path tracking. This novel control paradigm allows a seamless multi-objective self-scheduling control to be reached and ensures robustness and stability of the closed-loop control system. Based on Simulink & TruckSim Co-Simulation as well as hardware in loop (HIL) implementation, a comparison study between the proposed LPV/ℋ_∞ control strategy and a classical linear time-invariant (LTI)/ℋ_∞ controller is conducted, which confirms the effectiveness of the proposed control scheme.