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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 likely to cause speed overshoot to compensate for an extra large/small spacing. Additionally, we find that the constrained deceleration limits can also jeopardize safety, as the limited braking power produces extra small spacing or even crashes. The findings are validated through experiments on real cars. The paper suggests that the ACC parameter space should be extended to include the acceleration/deceleration limits considering their significant role exposed here. Through numerical simulations of ACC platoons, we show i) a marginal string stable ACC is preferable due to the smaller total queue length and the shorter duration in congestion; ii) congestion waves in a mixed ACC platoon largely depend on the sequence of vehicles provided different acceleration/deceleration limits, and iii) the safety hazard caused by the constrained deceleration limits is more significant in mixed ACC platoons when string unstable ACCs exist.
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
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.
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
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 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