This paper presents a robust approach for the lateral controller design and analysis. This controller is an important part of the Advanced Evasive Steering system for improving driving safety in emergency situations. First, the path-following problem is formulated in a generic LPV framework taking into account the actuator’s rate constraint and the avoidance trajectory disturbance. Then, a simple static state-feedback is optimized using LMI technique. It is shown that a good compromise between performance and robustness of the controller can be achieved with this method. Moreover, the simplicity and the low tuning effort is beneficial for implementation of the proposed controller on conventional automotive ECUs. Experimental results obtained with different driving scenarios confirm the effectiveness of this method.

本文提出了一种用于横向控制器设计和分析的稳健方法。该控制器是高级规避转向系统的重要组成部分，用于提高紧急情况下的驾驶安全性。首先，考虑到执行器的速率约束和避免轨迹干扰，在通用 LPV 框架中制定了路径跟随问题。然后，使用 LMI 技术优化简单的静态反馈。结果表明，使用这种方法可以实现控制器性能和鲁棒性之间的良好折衷。此外，简单和低调整工作有利于在传统汽车 ECU 上实现所提出的控制器。在不同驾驶场景下获得的实验结果证实了该方法的有效性。