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This paper presents a robust controller using a Linear Parameter Varying(LPV) model of the lane-keeping system with parameter reduction. Both varyingvehicle speed and roll motion on a curved road influence the lateral vehiclemodel parameters, such as tire cornering stiffness. Thus, we use the LPVtechnique to take the parameter variations into account in vehicle dynamics.However, multiple varying parameters lead to a high number of schedulingvariables and cause massive computational complexity. In this paper, to reducethe computational complexity, Principal Component Analysis (PCA)-basedparameter reduction is performed to obtain a reduced model with a tighterconvex set. We designed the LPV robust feedback controller using the reducedmodel solving a set of Linear Matrix Inequality (LMI). The effectiveness of theproposed system is validated with full vehicle dynamics from CarSim on aninterchange road. From the simulation, we confirmed that the proposed methodlargely reduces the lateral offset error, compared with other controllers basedon Linear Time-Invariant (LTI) system.

Robust Control for Lane Keeping System Using Linear Parameter Varying Approach with Scheduling Variables Reduction