A Novel Multi-parametric H_∞ Filter Design Method for Imperfectly Reconstructed Lateral Vehicle Dynamics

This paper proposes novel multi-parametric filtering problems for imperfectly reconstructed lateral dynamics of autonomous driving vehicles in the presence of disturbances. The primary objective of this study is to provide a theoretical filter design criterion for lateral vehicle dynamics where cornering stiffness is estimated. To achieve this goal, we establish a new condition to define stable regions for the cornering stiffness estimation error and formulate a multi-parametric filtering error system using a polytopic approach. Then, we present a new robust filter design condition in terms of linear matrix inequalities (LMIs), and it provides globally optimized solutions. In this formulation, the cornering stiffness estimation error is incorporated into the convex optimization problem by adding a constraint that ensures the stability criteria are satisfied. Finally, we demonstrate the effectiveness of the proposed approach by simulating a lateral vehicle dynamics model.