Control Reconfiguration of Lateral ADAS Steering Control in the Presence of Driver Errors Using Combined Parity Space / LPV Approaches*

This paper proposes a lateral Advance Driver Assistance System (ADAS) steering controller that uses the detection of driver errors to reconfigure a Linear Parameter Varying (LPV) controller acting on the combined driver-vehicle lateral steering system. The detection of driver errors is proposed to be formulated as a Fault Detection problem using the Parity Space approach, and the computed residual signal then schedules the LPV/ℋ∞ controller. The overall goal is to compute an ADAS controller that helps in stabilizing the vehicle when driver errors are detected while otherwise minimizing the level of intrusiveness. With this goal in mind, the proposed method was tested in simulation using a full dynamical model of a Renault Megane car and driver models, for simulation of the human steering action, during a critical scenario.