Design of actuator interventions in the trajectory tracking for road vehicles

The paper proposes a control design of vehicle systems including several vehicle components such as the brake, steering and driveline. The purpose is to design a cruise control system to track the predefined velocity and the road geometry. The effects of the actuators are analyzed and an actuator selection method in the control design is developed. The cruise control system based on robust LPV (Linear Parameter Varying) methods is designed with the emphasis on predefined velocity and path considerations.