Optimal adaptive cruise control with guaranteed string stability

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