Abstract
This paper presents the design and implementation of a novel multi-objective Adaptive Cruise Controller (ACC). The proposed control strategy is based on Youla–Kucera parametrization to interpolate two ACC controllers with conflicting objectives: (1) a performant controller with fast preceding tracking capabilities; and (2) a robust controller with perception noise attenuation capabilities within the system bandwidth. The proposed multi-controller structure uses tools of both performance and robust control in order to adapt car-following behavior to perception system status. The solution is implemented in an automated Renault ZOE, and compared to H∞ controller, providing encouraging results.
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