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 $H_{\infty }$ controller, providing encouraging results.

本文介绍了一种新型多目标自适应巡航控制器 (ACC) 的设计和实现。所提出的控制策略基于 Youla-Kucera 参数化来插入两个具有冲突目标的 ACC 控制器：（1）具有快速先行跟踪能力的高性能控制器；(2) 在系统带宽内具有感知噪声衰减能力的鲁棒控制器。所提出的多控制器结构使用性能和鲁棒控制的工具，以使跟车行为适应感知系统状态。该解决方案在自动化的雷诺 ZOE 中实施，并与$H_{\infty }$ 控制器，提供令人鼓舞的结果。