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)/\({{\cal H}_\infty}\) 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/\({{\cal H}_\infty}\) control strategy and a classical linear time-invariant (LTI)/\({{\cal H}_\infty}\) controller is conducted, which confirms the effectiveness of the proposed control scheme.

现代智能道路交通系统对自动重型商用车（HCV）的先进车辆控制技术提出了新的要求。本文开发了一种新颖的基于输出反馈的线性参数变化 (LPV)/ \({{\cal H}_\infty}\)用于实现多目标动态协调控制的自动化 HCV 控制范式。所提出的控制范式旨在通过应用适当的转向动作使车辆保持在车道边界的中心，同时实现更好的侧倾稳定性。主要思想是在自动路径跟踪过程中，根据侧翻指数 (RI) 估计器评估的 HCV 侧翻风险，通过调整转向动作来调度跟踪性能和侧倾稳定性。这种新颖的控制范式允许实现无缝的多目标自调度控制，并确保闭环控制系统的鲁棒性和稳定性。基于 Simulink 和 TruckSim 联合仿真以及硬件在环 (HIL) 实现，所提出的 LPV/ \({{\cal H}_\infty}\)之间的比较研究控制策略和经典的线性时不变 (LTI)/ \({{\cal H}_\infty}\)控制器进行，这证实了所提出的控制方案的有效性。