Highlights Experimental data are used to derive models of ACC and CACC dynamic response. Simulation results show that simple ACC and CACC models match real behavior closely. ACC displays a lightly-damped second order response plus pure time delay. CACC displays a first-order lag response with a short time constant. Test results and simulations show the string instability of ACC and stability of CACC.
Abstract Vehicle longitudinal control systems such as (commercially available) autonomous Adaptive Cruise Control (ACC) and its more sophisticated variant Cooperative ACC (CACC) could potentially have significant impacts on traffic flow. Accurate models of the dynamic responses of both of these systems are needed to produce realistic predictions of their effects on highway capacity and traffic flow dynamics. This paper describes the development of models of both ACC and CACC control systems that are based on real experimental data. To this end, four production vehicles were equipped with a commercial ACC system and a newly developed CACC controller. The Intelligent Driver Model (IDM) that has been widely used for ACC car-following modeling was also implemented on the production vehicles. These controllers were tested in different traffic situations in order to measure the actual responses of the vehicles. Test results indicate that: (1) the IDM controller when implemented in our experimental test vehicles does not perceptibly follow the speed changes of the preceding vehicle; (2) strings of consecutive ACC vehicles are unstable, amplifying the speed variations of preceding vehicles; and (3) strings of consecutive CACC vehicles overcome these limitations, providing smooth and stable car following responses. Simple but accurate models of the ACC and CACC vehicle following dynamics were derived from the actual measured responses of the vehicles and applied to simulations of some simple multi-vehicle car following scenarios.
Modeling cooperative and autonomous adaptive cruise control dynamic responses using experimental data
Tramsportation Research, Part C: Emerging Technologies ; 48 ; 285-300
2014-09-01
16 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
Cooperative Adaptive Cruise Control
Transportation Research Record | 2015
|Adaptive and Cooperative Cruise Control
Springer Verlag | 2012
|