LPV-Based Autonomous Vehicle Lateral Controllers: A Comparative Analysis

This paper presents a comparative analysis using three Linear Parameter Varying (LPV) control approaches for the lateral control of an autonomous vehicle. Polytopic, gridbased and Linear Fractional Transformation (LFT) lateral controllers are designed, highlighting their benefits and drawbacks from the theoretical design to the real implementation on a real automated Renault ZOE vehicle. A solution is proposed to deal with both lane change and lane tracking problems, using a single LPV controller, by adapting the look-ahead distance. Each LPV controller is designed based on LPV/ concept. Performance comparison includes computational costs, vehicle performance (i.e. lateral tracking error or control effort optimization) and on-board integration complexity. Simulation and experimental results on a private test track are included to support main findings