Driving safety may be compromised by aggressive acceleration/deceleration that exceeds the road surface limit. This paper aims to address two problems: how to obtain the maximum acceleration constraint and how to adjust the control strategy accordingly. We first propose a kinematic information fusion method based on adaptive Kalman Filter (AKF) to obtain accurate velocity and acceleration, and then develop a tire-road friction coefficient (TRFC) estimation method based on quadratic programming (QP) to determine the maximum acceleration that the road can provide. After that, we establish a new robust $\mathcal{H}_{\infty}$ design criterion with input constraint (RHIC), which ensures that the input of adaptive cruise control (ACC) system is constrained and the disturbance is attenuated. Finally, some experiments and simulations are presented to demonstrate the effectiveness of the proposed methods.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    An Innovative Robust $\mathcal{H}_{\infty}$ Adaptive Cruise Control Method with Input Constraint Considering Tire-road Friction Coefficient


    Beteiligte:
    Fang, Ruiqi (Autor:in) / Liang, Jinhao (Autor:in) / Yin, Guodong (Autor:in) / Li, Ang (Autor:in) / Li, Xinxiu (Autor:in) / Lu, Yanbo (Autor:in)


    Erscheinungsdatum :

    24.09.2023


    Format / Umfang :

    4256750 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Self-adaptive cruise control method considering road adhesion coefficient

    YANG JIN-HO / FANG RUIQI / WANG FA'AN et al. | Europäisches Patentamt | 2024

    Freier Zugriff

    Robust estimation of maximum tire-road friction coefficient considering road surface irregularity

    Han, K. / Hwang, Y. / Lee, E. et al. | British Library Online Contents | 2016


    Robust control for 4WS vehicles considering a varying tire-road friction coefficient

    Yin, G. D. / Chen, N. / Wang, J. X. et al. | British Library Online Contents | 2010


    Robust control for 4WS vehicles considering a varying tire-road friction coefficient

    Yin, G. -D. / Chen, N. / Wang, J. -X. et al. | Online Contents | 2010