An Innovative Adaptive Cruise Control Method Based on Mixed H₂/H∞ Out-of-Sequence Measurement Observer
Congzhi Liu, Liang Li, Xiang Chen, Jiawang Yong, Shuo Cheng, Honglei Dong
Abstract
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 <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$H_{2}/H_\infty $ </tex-math></inline-formula> 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 <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$H_{2}/H_\infty $ </tex-math></inline-formula> method. We first analyze the adaptive cruise and Radar tracking characteristics. Then, a definition of <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$H_{2}/H_\infty $ </tex-math></inline-formula> guarantee performance is introduced to ensure satisfying target tracking and safety car-following performances. Based on <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$H_\infty $ </tex-math></inline-formula> theory, the design criterion of the proposed mixed <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$H_{2}/H_\infty $ </tex-math></inline-formula> 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.