Advanced Driver Assistance Systems (ADAS) are in the focus o f the vehicle control research. In the paper, the design method of a controller for a longitudinal ADAS system of a test vehicle is proposed. The cruise control must guaran tee precise velocity tracking at varying vehicle mass and road inclinations. The mass variat ion and road slope changes are formulated as disturbances of the system. A combined robust H ∞ and feedforward control design method is applied, which guarantees the robustness o f the system against disturbances and considers actuator dynamics. The resulting control alg orithm is implemented in CarSim. Simulation scenarios on the Mulhouse-Belfort highway sect ion are performed to illustrate the efficiency of the method.
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Németh et al. (2015) studied this question.
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