A Headway Control Algorithm for ACC Vehicles with the Compensation of the Preceding Vehicle Acceleration

A headway control algorithm with the compensation of the preceding vehicle acceleration is proposed. Multi performances such as driving safety, passenger comfort and energy economy are considered to imitate car-following features of skilled drivers. To follow the preceding vehicle more stably and safely, the preceding vehicle acceleration is estimated via a differential tracker and a feedforward term with the input of estimated acceleration is added into the headway controller with a feedback term. The feedforward and feedback headway controller is designed via quadratic boundedness concept and the multi performances are coordinated by transforming the ranges of them into linear matrix inequalities. Finally, the car-following performance of the designed algorithm is verified under operating conditions in which the preceding vehicle speed is constant or changing.