  This paper proposes a control architecture for autonomous lane keeping by a
vehicle. In this paper, the vehicle dynamics consist of two parts: lateral and
longitudinal dynamics. Therefore, the control architecture comprises two
subsequent controllers. A longitudinal model predictive control (MPC) makes the
vehicle track the desired longitudinal speeds that are assumed to be generated
by a speed planner. The longitudinal speeds are then passed to a lateral MPC
for lane keeping. Due to the dependence of the lateral dynamics on the
longitudinal speed, they are represented in a linear parameter-varying (LPV)
form, where its scheduling parameter is the longitudinal speed of the vehicle.
In order to deal with the imprecise information of the future longitudinal
speed (the scheduling parameter), a bound of uncertainty is considered around
the nominal trajectory of the future longitudinal velocities. Then, a
tube-based LPV- MPC is adopted to control the lateral dynamics for attaining
the lane keeping goal. In the end, the effectiveness of the proposed methods is
illustrated by carrying out simulation tests.
