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Current commercial adaptive cruise control (ACC) systems consist of an upper-level planner controller that decides the optimal trajectory that should be followed, and a low-level controller in charge of sending the gas/brake signals to the mechanical system to actually move the vehicle. We find that the low-level controller has a significant impact on the string stability (SS) even if the planner is string stable: (i) a slow controller deteriorates the SS, (ii) slow controllers are common as they arise from insufficient control gains, from a weak gas/brake system or both, and (iii) the integral term in a slow controller causes undesired overshooting which affects the SS. Accordingly, we suggest tuning up the proportional/feedforward gain and ensuring the gas/brake is not weak. The study results are validated both numerically and empirically with data from commercial cars.
This paper demonstrates that the acceleration/deceleration limits in ACC systems can make a string stable ACC amplify the speed perturbation in natural driving. It is shown that the constrained acceleration/deceleration of the following ACCs are like
Experimental measurements on commercial adaptive cruise control (ACC) vehicles is becoming increasingly available from around the world, providing an unprecedented opportunity to study the traffic flow characteristics that arise from this technology.
We propose a learning-based, distributionally robust model predictive control approach towards the design of adaptive cruise control (ACC) systems. We model the preceding vehicle as an autonomous stochastic system, using a hybrid model with continuou
This paper investigates the accuracy and robustness of car-following (CF) and adaptive cruise control (ACC) models used to simulate measured driving behaviour of commercial ACCs. To this aim, a general modelling framework is proposed, in which ACC an
This paper is about obtaining stable vehicle platooning by using Cooperative Adaptive Cruise Control when the communication is unreliable and suffers from message losses. We model communication losses as independent random events and we propose an or