Coordination of Lateral Vehicle Control Systems Using Learning-Based Strategies

The paper proposes a novel learning-based coordination strategy for lateral control systems of automated vehicles. motivation the research is to improve performance level coordinated system compared conventional model-based reconfigurable solutions. During vehicle maneuvers, provides torque vectoring and front-wheel steering angle in order guarantee various dynamical performances. specifications are guaranteed on two levels, i.e., primary performances by Linear Parameter Varying (LPV) controllers, while secondary (e.g., economy comfort) maintained reinforcement-learning-based (RL) controller. carried out supervisor. effectiveness proposed illustrated through high velocity maneuvers.