Gagliardi Gianfranco, Lupia Marco, Cario Gianni, Casavola Alessandro
Dipartimento di Ingegneria Elettronica, Informatica e Sistemistica (DIMES), Universitá della Calabria, 87036 Rende, CS, Italy.
Sensors (Basel). 2021 Jun 13;21(12):4072. doi: 10.3390/s21124072.
This paper presents the design and validation of a model-based H∞ vehicle lateral controller for autonomous vehicles in a simulation environment. The controller was designed so that the position and orientation tracking errors are minimized and so that the vehicle is able to follow a trajectory computed in real-time by exploiting proper video-processing and lane-detection algorithms. From a computational point of view, the controller is obtained by solving a suitable LMI optimization problem and ensures that the closed-loop system is robust with respect to variations in the vehicle's longitudinal speed. In order to show the effectiveness of the proposed control strategy, simulations have been undertaken by taking advantage of a co-simulation environment jointly developed in Matlab/Simulink and Carsim 8 . The simulation activity shows that the proposed control approach allows for good control performance to be achieved.
本文介绍了一种用于自动驾驶车辆的基于模型的H∞车辆横向控制器在仿真环境中的设计与验证。该控制器的设计目的是使位置和方向跟踪误差最小化，并使车辆能够通过利用适当的视频处理和车道检测算法实时跟踪计算出的轨迹。从计算的角度来看，该控制器是通过求解一个合适的线性矩阵不等式（LMI）优化问题得到的，并确保闭环系统对于车辆纵向速度的变化具有鲁棒性。为了展示所提出控制策略的有效性，利用在Matlab/Simulink和Carsim 8中联合开发的协同仿真环境进行了仿真。仿真活动表明，所提出的控制方法能够实现良好的控制性能。
