  This paper presents a robust controller using a Linear Parameter Varying
(LPV) model of the lane-keeping system with parameter reduction. Both varying
vehicle speed and roll motion on a curved road influence the lateral vehicle
model parameters, such as tire cornering stiffness. Thus, we use the LPV
technique to take the parameter variations into account in vehicle dynamics.
However, multiple varying parameters lead to a high number of scheduling
variables and cause massive computational complexity. In this paper, to reduce
the computational complexity, Principal Component Analysis (PCA)-based
parameter reduction is performed to obtain a reduced model with a tighter
convex set. We designed the LPV robust feedback controller using the reduced
model solving a set of Linear Matrix Inequality (LMI). The effectiveness of the
proposed system is validated with full vehicle dynamics from CarSim on an
interchange road. From the simulation, we confirmed that the proposed method
largely reduces the lateral offset error, compared with other controllers based
on Linear Time-Invariant (LTI) system.
