Multi-Vehicle Adaptive Cruise Control with Collision Avoidance in Multiple Transitions

This paper presents a longitudinal control algorithm for an adaptive cruise control (ACC) with collision avoidance (CA) in multiple transitions by a driver and traffic conditions. The objective is for smooth and safe transition between various driving situations to achieve driver's comfort and prevention of collision. The proposed algorithm consists of a multi-target tracking filter, a primary target selection algorithm and an integrated ACC/CA controller. The multi-target tracking filter is used to smooth the sensor signal, and makes it possible to apply to a control system. The primary target selection algorithm decides an important target which has an effect on the subject vehicle. In addition, it provides the information to an integrated ACC/CA controller in order to drive a subject vehicle smoothly and improve safety in various traffic transitions. Finally, the integrated ACC/CA controller computes the desired acceleration. In order to reduce the effects of discontinuous change by drivers such as time gap, set speed, and automation switching, an input-shaping filter technique is applied to integrated ACC/CA controller. The performance and safety benefits of the multi-vehicle ACC/CA system is investigated via simulations using real data on driving. Simulation results show that the response of multi-vehicle ACC/CA system is more smooth and safer in multiple transitions.