Lane centering assistance system design for large speed variation and curved roads

The present paper is dedicated to the Advanced Driving Assistance Systems (ADAS). The first goal is to offer an outlook of ADAS which represents a widespread feature of the modern vehicles. After this general perspective, the attention is focused on one of the lateral dynamics control systems, the Lane Centering Assistance system. A Linear Parameter-Varying (LPV) model comprising the most relevant system dynamics is considered with the curvature of the road representing a bounded parameter-varying disturbance. This model will be used for the design of an input-to-state stable LPV observer-based controller within the Linear Matrix Inequality (LMI) framework, ensuring systems' performance in the presence of speed variation and curved roads. In addition, constraint satisfaction and the maximization of the domain of attraction are considered, in order to provide a certified region of operation. As a last part of the study, in order to reduce the conservativeness introduced by large parameter variations, a discontinuous multiple parameter-dependent design is proposed, and stability of the LPV closed-loop switching system is proved by exploiting the dwell time conditions inherited from the hysteresis implementation.