Linear Parameter Varying and Reinforcement Learning Approaches for Trajectory Tracking Controller of Autonomous Vehicles

Abstract

This research focuses on controlling the motion trajectory of autonomous vehicles by using a combination of two high-performance control methods: Linear Parameter Varying (LPV) and Reinforcement Learning (RL). First, a single-track motion model is researched and developed with coordinate systems to determine the car's motion trajectory through signals from GPS. Then, the LPV control method is used to design a controller to control the car's motion trajectory. Reinforcement learning method with detailed training procedures is used to combine with the advantages of LPV controller. Finally, the simulation results are evaluated in the time domain through the use of specialized CarSim software, which clearly demonstrates the superiority of the research method.