  This work proposes a solution for the longitudinal and lateral control
problem of urban autonomous vehicles using a gain scheduling LPV control
approach. Using the kinematic and dynamic vehicle models, a linear parameter
varying (LPV) representation is adopted and a cascade control methodology is
proposed for controlling both vehicle behaviours. In particular, for the
control design, the use of both models separately lead to solve two LPV LMI-LQR
problems. Furthermore, to achieve the desired levels of performance, an
approach based on cascade design of the the kinematic and dynamic controllers
has been proposed. This cascade control scheme is based on the idea that the
dynamic closed loop behaviour is designed to be faster than the kinematic
closed loop one. The obtained gain scheduling LPV control approach, jointly
with a trajectory generation module, has presented suitable results in a
simulated city driving scenario.
