Optimal Adaptive Cruise Control with Guaranteed String Stability

TLDR

The paper presents a two‑level adaptive cruise control synthesis method. The upper‑level controller computes desired acceleration from vehicle range and range‑rate, while a lower‑level adaptive servo tracks this command, with servo dynamics incorporated and evaluated using the ACCSIM microscopic simulation. The design guarantees string stability, reduces negative impact on surrounding vehicles, and simulation results demonstrate performance across different ACC penetration rates and actuator/engine bandwidths.

Abstract

Abstract A two-level Adaptive Cruise Control (ACC) synthesis method is presented in this paper. At the upper level, desired vehicle acceleration is computed based on vehicle range and range rate measurement. At the lower (servo) level, an adaptive control algorithm is designed to ensure the vehicle follows the upper level acceleration command accurately. It is shown that the servo-level dynamics can be included in the overall design and string stability can be guaranteed. In other words, the proposed control design produces minimum negative impact on surrounding vehicles. The performance of the proposed ACC algorithm is examined by using a microscopic simulation program – ACCSIM created at the University of Michigan. The architecture and basic functions of ACCSIM are described in this paper. Simulation results under different ACC penetration rate and actuator/engine bandwidth are reported.