Robust Look-ahead Cruise Control Design Based on the ℋ∞ Method∗

The paper focuses on the robust control design of a look-ahead cruise control system. The aim of the look-ahead control is to consider the topographic conditions and speed regulations of the oncoming road sections. The look-ahead cruise control leads to an optimization method, which generates a fuel and time optimal reference speed for the vehicle. It requires external topographic and road information, and measurements concerning the vehicle, such as speed and acceleration. Since the signals of the vehicle are considered in the generation of the reference speed, the generator has an impact on the stability of the cruise control system. In the paper a robust H∞ cruise control design method is proposed, which considers the efect of the reference speed generation, and guarantees the stability and the speed tracking performance of the entire system. The efciency of the method is analyzed through a simulation example with real highway data.