Model-Based String Stability of Adaptive Cruise Control Systems Using Field Data
Model-Based String Stability of Adaptive Cruise Control Systems Using Field Data
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DOI：
10.1109/tiv.2019.2955368
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发表时间：
2019-02
影响因子：
8.2
通讯作者：
George Gunter;Caroline Janssen;William Barbour;Raphael E. Stern;D. Work
中科院分区：
文献类型：
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作者：
George Gunter;Caroline Janssen;William Barbour;Raphael E. Stern;D. Work
这篇文章的动机是缺乏关于商用汽车工程师协会一级自动驾驶系统性能的经验数据。为了解决这个问题，进行了一组汽车跟随实验，以收集2015年配备商用自适应巡航控制（ACC）系统的豪华电动汽车的数据。速度，相对速度，和间距在实验过程中收集的数据被用来校准最佳的速度相对速度汽车跟随模型的最小和最大以下设置。两个校准模型的字符串稳定性进行评估，并确定最佳拟合模型是字符串不稳定的，这表明他们不能防止所有的交通干扰放大成幻影堵塞。校准模型的基础上，我们确定的后果字符串不稳定的ACC系统的合成和经验的铅车辆的干扰，强调商业ACC排的中等规模，可以抑制一些干扰，即使是字符串不稳定。本文的主要贡献是开发了一种数据驱动的方法来计算ACC系统的字符串稳定性，以及收集和解释数据集以了解商业ACC系统的车辆跟随行为。
This article is motivated by the lack of empirical data on the performance of commercially available Society of Automotive Engineers level one automated driving systems. To address this, a set of car following experiments are conducted to collect data from a 2015 luxury electric vehicle equipped with a commercial adaptive cruise control (ACC) system. Velocity, relative velocity, and spacing data collected during the experiments are used to calibrate an optimal velocity relative velocity car following model for both the minimum and maximum following settings. The string stability of both calibrated models is assessed, and it is determined that the best-fit models are string unstable, indicating they are not able to prevent all traffic disturbances from amplifying into phantom jams. Based on the calibrated models, we identify the consequences of the string unstable ACC system on synthetic and empirical lead vehicle disturbances, highlighting that commercial ACC platoons of moderate size can dampen some disturbances even while being string unstable. The primary contributions of this article are the development of a data-driven approach to calculate string stability of ACC systems, and the collection and interpretation of a dataset to understand the car following behavior of a commercial ACC system.