Robustness analysis of lane keeping system for autonomous ground vehicle

Abstract

Robustness analysis of dynamic system is one of the major research concerns in present times. Among many features, lane keeping of ground vehicle has caught the attention of researchers for its immense need in the passenger cars to avoid accidents and congestion. In this paper, robustness analysis of a mathematical model of ground vehicle along with a model predictive controller is simulated. The steering angle and the road curvature acts as the control input and the disturbance input of the vehicle respectively. For robustness analysis, parametric uncertainty is added in the vehicle model, where road-tire friction coefficient and look ahead distance are assumed as uncertain parameters. MATLAB-Simulink software simulation results show that that the model predictive controller of the lane keeping system is robust enough in the presence of uncertain road-tire friction coefficient and look ahead distance.