Implementation of a Robust Cruise Control Using Look-Ahead Method

Peter Gaspar (1) , Balázs Németh (1) , Michel Basset (2, 3) , Rodolfo Orjuela (2, 3)

1 Systems and Control Laboratory, Institute for Computer Science and Control, Hungarian Academy of Sciences,
2 MIPS - Modélisation, Intelligence, Processus et Système
3 Université de Haute-Alsace (UHA) - Université de Haute-Alsace (UHA) Mulhouse - Colmar

The paper proposes the implementation of a robust cruise control system which is able to ensure the fuel-efficient travel of the vehicle with a look-ahead control algorithm. The H∞ -based feedforward-feedback control method guarantees robustness against varying vehicle mass, longitudinal disturbances and the consideration of actuator dynamics. The advantage of the method is the application of a small number of vehicle parameters. Therefore, a method for various passenger cars without significant modifications is needed. The proposed cruise control and the look-ahead method are implemented in a software-in-the-loop (SIL) environment using DSpace Autobox, which cooperates with the high fidelity CarSim software through CAN communication.

Mots clés: Driver Warning Systems; Systems Based on Car-to-x-communication; Adaptive Cruise Control; Heading Control; Lanekeeping

Domaines: Automatique / Robotique

Peter Gaspar, Balázs Németh, Michel Basset, Rodolfo Orjuela. Implementation of a Robust Cruise Control Using Look-Ahead Method. 8th IFAC Symposium Advances in Automotive Control, AAC 2016, Jun 2016, Kolmarden Wildlife Resort, Sweden. ⟨hal-01354097⟩