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Design of a supervisory integrated control for driver assistance systems

The paper proposes a control design method for a driver assistance system. In the operation of the system a predefined trajectory required by the driver with a steering command is followed. During maneuvers the control system generates differential brake moment and the auxiliary front wheel steering angle and changes the camber angles of the wheels in order to improve the tracking of the road trajectory. The performance specifications are guaranteed by the local controllers, i.e., the brake, the steering, and the suspension systems, while the coordination of these components is provided by the supervisor. The advantage of this architecture is that local controllers are designed independently, which is ensured by the fact that the monitoring signals are taken into consideration in the formalization of their performance specifications. The control system also uses a driver model, with which the reference signal can be generated. In the control design the parameter-dependent LPV method, which meets the performance specifications, is used.