TY - JOUR
T1 - Are Commercially Implemented Adaptive Cruise Control Systems String Stable?
AU - Gunter, George
AU - Gloudemans, Derek
AU - Stern, Raphael E.
AU - McQuade, Sean
AU - Bhadani, Rahul
AU - Bunting, Matt
AU - Delle Monache, Maria Laura
AU - Lysecky, Roman
AU - Seibold, Benjamin
AU - Sprinkle, Jonathan
AU - Piccoli, Benedetto
AU - Work, Daniel B.
N1 - Publisher Copyright:
© 2000-2011 IEEE.
PY - 2021/11/1
Y1 - 2021/11/1
N2 - In this article, we assess the string stability of seven 2018 model year adaptive cruise control (ACC) equipped vehicles that are widely available in the US market. Seven distinct vehicle models from two different vehicle makes are analyzed using data collected from more than 1,200 miles of driving in car-following experiments with ACC engaged by the follower vehicle. The resulting dataset is used to identify the parameters of a linear second order delay differential equation model that approximates the behavior of the black box ACC systems. The string stability of the data-fitted model associated with each vehicle is assessed, and the main finding is that all seven vehicle models have string unstable ACC systems. For one commonly available vehicle model that offers ACC as a standard feature on all trim levels, we validate the string stability finding with a multi-vehicle homogeneousplatoon experiment in which all vehicles are the same year, make, and model. In this test, an initial disturbance of 6 mph is amplified to a 25 mph disturbance, at which point the last vehicle in the platoon is observed to disengage the ACC. The data collected in the driving experiments is made available, representing the largest publicly available comparative driving dataset on ACC equipped vehicles.
AB - In this article, we assess the string stability of seven 2018 model year adaptive cruise control (ACC) equipped vehicles that are widely available in the US market. Seven distinct vehicle models from two different vehicle makes are analyzed using data collected from more than 1,200 miles of driving in car-following experiments with ACC engaged by the follower vehicle. The resulting dataset is used to identify the parameters of a linear second order delay differential equation model that approximates the behavior of the black box ACC systems. The string stability of the data-fitted model associated with each vehicle is assessed, and the main finding is that all seven vehicle models have string unstable ACC systems. For one commonly available vehicle model that offers ACC as a standard feature on all trim levels, we validate the string stability finding with a multi-vehicle homogeneousplatoon experiment in which all vehicles are the same year, make, and model. In this test, an initial disturbance of 6 mph is amplified to a 25 mph disturbance, at which point the last vehicle in the platoon is observed to disengage the ACC. The data collected in the driving experiments is made available, representing the largest publicly available comparative driving dataset on ACC equipped vehicles.
KW - Adaptive cruise control
KW - string stability
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U2 - 10.1109/TITS.2020.3000682
DO - 10.1109/TITS.2020.3000682
M3 - Article
AN - SCOPUS:85118844445
SN - 1524-9050
VL - 22
SP - 6992
EP - 7003
JO - IEEE Transactions on Intelligent Transportation Systems
JF - IEEE Transactions on Intelligent Transportation Systems
IS - 11
ER -