A Centralized Multilayer LPV/H∞ vs Decentralized Sliding Mode Control Architectures, for the Lane Keeping and Stability of an Intelligent Vehicle

This paper deals with the development of two Advanced Driving Assistance systems (ADASs) architectures involving the Active Front Steering (AFS) and the Direct Yaw Control (DYC) for the Lane Keeping and the lateral stability enhancement in Semi-Autonomous Vehicles. The objective of these systems is to assist and help the driver to keep the lane and to ensure lateral stability. To do that, a new Centralized and Decentralized architectures of ADAS system are developed. The different layers of each architecture are detailed including the control layer where the LPV/H∞ and the Super-Twisting Sliding Mode (STSM) control techniques are used for the development of ADAS controllers respectively. Then, a decision making layer monitors the driver's behavior and the lateral stability to adjust the different controllers. Both ADAS system architectures are validated on Matlab/Simulink for a defined scenario with a complete nonlinear model of the vehicle validated on "SCANeR Studio" (OKtal) professional simulator. Finally, a comparison is done between them to show the difference in performance and the effectiveness of both strategies of control on the assistance objective and guaranteeing vehicle's stability.