An Innovative Adaptive Cruise Control Method Based on Mixed H₂/H∞ Out-of-Sequence Measurement Observer

Delayed measurements can create difficulties for real-time feedback control. To address the advanced driver assistant system (ADAS) in practical application with delayed measurements, false alarms, false dismissals and disturbances, we propose a novel mixed
$H_{2}/H_\infty $
observer-based controller in this study, which enables object tracking and car-following. Especially, the additive and multiplicative noises of the adaptive cruise control (ACC) system can be attenuated by the proposed mixed
$H_{2}/H_\infty $
method. We first analyze the adaptive cruise and Radar tracking characteristics. Then, a definition of
$H_{2}/H_\infty $
guarantee performance is introduced to ensure satisfying target tracking and safety car-following performances. Based on
$H_\infty $
theory, the design criterion of the proposed mixed
$H_{2}/H_\infty $
observer-based controller for ACC is established by linear matrix inequality (LMI) technique. Lastly, some experiment scenarios are given to demonstrate the effectiveness of the proposed method.