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Dynamic Output-feedback robust control for vehicle path tracking considering different human drivers' characteristics

This paper proposes a linear parameter-varying (LPV) dynamic output-feedback shared controller to assist the driver for path tracking. In the controller design, the uncertain, diverse characteristics including delay time, preview time, and steering proportional gain with respect to different human drivers are considered with the gain-scheduling algorithm. To achieve performance improvement of the closed-loop driver-vehicle system, regional pole placement based on the quadratic D-stability is applied. The problem studied is converted into a convex optimization problem with a set of tractable linear matrix inequalities (LMIs). Simulation results derived from Carsim-Matlab/Simulink co-simulation environment show that vehicle trajectory following performance in terms of different human drivers, especially for the inexperienced drivers, has been significantly improved with the proposed controller. The physical and mental workloads of the inexperienced drivers can be significantly reduced. Meanwhile, the sensing cost can also be decreased with the proposed output-feedback controller.