Semi-autonomous adaptive cruise control systems

R. Rajamani, C. Zhu

Research output: Contribution to journalArticlepeer-review

201 Scopus citations


The concept of a semi-autonomous adaptive cruise control (SAACC) system is developed, which enjoys significant advantages over present day adaptive cruise control (ACC) systems in terms of highway safety and traffic flow capacity. The semi-autonomous systems combine the deployment advantages of autonomous vehicles with the performance advantages of fully automated highway systems (AHSs) in which vehicles operate cooperatively as a platoon. Unlike platoon systems, the semi-autonomous systems will be immediately deployable on present day highways, where both manually driven and adaptive cruise controlled vehicles can coexist. The theoretical results in this paper show that the proposed system would be able to safely maintain smaller time gaps, would be string stable, and would be guaranteed to have smaller actuator inputs than a standard autonomous ACC system. The simulation results in the paper indicate that more accurate and smoother tracking, smaller time gaps, smaller control efforts, and increased robustness to vehicle dynamics are achieved by semi-autonomous control.

Original languageEnglish (US)
Pages (from-to)1186-1192
Number of pages7
JournalIEEE Transactions on Vehicular Technology
Issue number5
StatePublished - Sep 2002


  • Adaptive cruise control
  • Inter-vehicle communication
  • Vehicle control


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