Adaptive cruise control (ACC) is regarded as an essential control system for intelligent vehicles. Inspired by the urban autonomous driving, the full-speed ACC has aroused concerns worldwide. Numerous strategies have been proposed to improve the following performance under highway cruise conditions. However, there are some non-negligible gaps from highway to urban conditions. The actuation uncertainty and the disturbance from the preceding vehicle is the main factor should be considered. To this end, the actual response of X-by-wire chassis is tested. The state-space model of chassis motion is derived including the terrain disturbance, the acceleration response uncertainty and the high-order unmodeled dynamics. In the absence of preceding vehicle's acceleration, the integral of spacing error is extended as a new state to formulate the control problem. An optimal cost-guaranteed robust control method is put forward which feedback parameters can be obtained by solving several Linear Matrix Inequalities (LMIs). The system uncertainty with block-diagonal form is utilized to reduce the conservativeness. Simulation results reveal that the proposed method can realize the comfort and safe follow-to-stop driving simultaneously and achieve more reliable stop distance than Linear Quadratic Regulator (LQR).
A Novel Robust Full-speed Adaptive Cruise Control for Intelligent Vehicles
2023-10-16
2379773 byte
Conference paper
Electronic Resource
English