An Innovative Adaptive Cruise Control Method Based on Mixed H2/H∞ Out-of-Sequence Measurement Observer

Delayed measurements can create difficulties for real-time feedback control. To address the advanced driver assistant system (ADAS) in practical application with delayed measurements, false alarms, false dismissals and disturbances, we propose a novel mixed H-2/H-infinity observer-based controller in this study, which enables object tracking and car-following. Especially, the additive and multiplicative noises of the adaptive cruise control (ACC) system can be attenuated by the proposed mixed H-2/H-infinity method. We first analyze the adaptive cruise and Radar tracking characteristics. Then, a definition of H-2/H-infinity guarantee performance is introduced to ensure satisfying target tracking and safety car-following performances. Based on H-infinity theory, the design criterion of the proposed mixed H-2/H-infinity observer-based controller for ACC is established by linear matrix inequality (LMI) technique. Lastly, some experiment scenarios are given to demonstrate the effectiveness of the proposed method.

Automated summary

In this study, a novel mixed H-2/H-infinity observer-based controller is proposed to address delayed measurements for real-time feedback control in advanced driver assistant system (ADAS). The controller enables object tracking and car-following, as well as attenuation of noises in the adaptive cruise control (ACC) system. The design criterion for the proposed controller is established based on linear matrix inequality (LMI) technique, demonstrating effectiveness through experiment scenarios.