A Novel Asymmetric Car Following Model for Driver-Assist Enabled Vehicle Dynamics

Mingfeng Shang, Benjamin Rosenblad, Raphael Stern

Research output: Contribution to journalArticlepeer-review

21 Scopus citations


Adaptive cruise control (ACC) vehicles are proving to be the first generation of driver-assist enabled vehicles. In order to study the impacts of ACC vehicles on string stability and traffic flow characteristics, accurately calibrating microscopic car following models is crucial to simulate inter-vehicle dynamics. While many car following models have been used to simulate car following behavior, a single, continuous function may not describe both acceleration and braking realistically. We propose an asymmetric model which is based on the symmetric optimal velocity relative velocity (OVRV) model and switch parameters under different conditions to realize and reproduce car following dynamics of ACC vehicles. We conduct an analytical string stability analysis and the string stability criterion is derived. The calibration and simulation results show that the proposed asymmetric ACC model reduces model spacing error by up to 38% compared with the symmetric OVRV model. Compared with other commonly used asymmetric car following models in the transportation community, the proposed asymmetric ACC model can reduce spacing error by 44.8%. Furthermore, we validate the derived string stability criterion with a numerical test simulating with a string of vehicles. We conclude that an asymmetric car following model shows more accurate performance in the capture of ACC car following behavior.

Original languageEnglish (US)
Pages (from-to)15696-15706
Number of pages11
JournalIEEE Transactions on Intelligent Transportation Systems
Issue number9
StatePublished - Sep 1 2022

Bibliographical note

Funding Information:
This work was supported in part by the University of Minnesota Center for Transportation Studies through the Faculty Scholars Program and the Transportation Scholars Program and in part by the Department of Civil, Environmental, and Geo-Engineering, University of Minnesota, through the Internship Opportunity Program.

Publisher Copyright:
© 2000-2011 IEEE.


  • Microscopic car following model
  • model calibration
  • traffic string stability


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