摘要：Abstract: Advanced Driver Assistance Systems (ADAS) are in the focus of the vehicle control
research. In the paper, the design method of a controller for a longitudinal ADAS system
of a test vehicle is proposed. The cruise control must guarantee precise velocity tracking at
varying vehicle mass and road inclinations. The mass variation and road slope changes are
formulated as disturbances of the system. A combined robust H∞ and feedforward control
design method is applied, which guarantees the robustness of the system against disturbances
and considers actuator dynamics. The resulting control algorithm is implemented in CarSim.
Simulation scenarios on
