The concept of a semi-autonomous adaptive cruise control system is developed that enjoys significant advantages over present-day adaptive cruise control systems in terms of highway safety and traffic flow. The semi-autonomous systems combine the advantages of autonomous vehicles with the advantages of fully automated highway systems in which vehicles operate cooperatively as a platoon. Unlike platoon systems, the semi-autonomous systems will be mediately deployable on present-day highways where both manually driven and adaptive cruise controlled vehicles can co-exist. The theoretical results in this paper show that the proposed system would be able to safely maintain smaller headway-gaps, would be string stable, and would be guaranteed to have smaller actuator inputs than a standard autonomous adaptive cruise control system. The simulation results in the paper indicate that more accurate and smoother tracking, smaller headway gaps, smaller control efforts and increased robustness to vehicle dynamics are achieved by semi-autonomous control.
|Original language||English (US)|
|Number of pages||5|
|Journal||Proceedings of the American Control Conference|
|State||Published - Dec 1 1999|