Empirical Study on the Acceleration/Deceleration Constraints Under Commercial Adaptive Cruise Control
Empirical Study on the Acceleration/Deceleration Constraints Under Commercial Adaptive Cruise Control
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DOI：
10.1109/itsc55140.2022.9921922
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发表时间：
2022-10
期刊：
影响因子：
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通讯作者：
Hao Zhou;Anye Zhou;Zijian Ding;Jorge A. Laval;S. Peeta
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文献类型：
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作者：
Hao Zhou;Anye Zhou;Zijian Ding;Jorge A. Laval;S. Peeta
本文旨在识别商用自适应巡航控制(ACC)中加减速(Accel/Decel)约束的特征，并研究其对交通流的潜在影响。我们收集了马萨诸塞州和佐治亚州各种配备ACC的车辆的经验加速/减速数据，包括特斯拉Model X/3、思域和普锐斯。与目前文献中采用的恒定值不同，观察到的不同ACC制造商的最大加速/减速速率都表明加速/减速限制随车速线性减小。基于这些数据，我们还发现：i)不同的ACC制造商似乎采用了不同的加速/减速限制；ii)最大加速率随发动机模式的不同而不同，但在自由运动和跟车模式下有所不同；iii)最大减速率与最小碰撞次数显示出很强的相关性。我们进一步证明，ACC中的加速/减速限制可能导致速度过冲/欠冲，导致加速过程中的容量损失，以及在减速情况下恶化的拥堵。为了揭示其内在机制，本文建立了一个常微分方程组模型，用于分析速度过冲/欠冲，并将它们与加速/减速约束以及ACC控制参数相关联。模拟结果还表明，除了速度过冲/欠冲外，ACCS中的加速/减速约束也会破坏管柱的稳定性。
This paper aims to identify the characteristics of acceleration/deceleration (accel/decel) constraints in com-mercial adaptive cruise control (ACC) and investigate their potential impact on traffic flow. We have collected empirical accel/decel data in Massachusetts and Georgia from various ACC-equipped vehicles including Tesla Model X/3, Civic, and Prius. Unlike constant values adopted in the literature so far, the observed maximum accel/decel rates across different ACC manufactures all suggest that the accel/decel constraints decrease linearly with vehicle speeds. Based on the data we also find: i) different ACC manufacturers seem to adopt different accel/decel constraints, ii) maximum accel rates do not vary significantly with the engine mode but differ in free-motion and car-following regimes iii) maximum decel rates show a strong correlation with minimum times to collision. We further demonstrate that accel/decel constraints in the ACC can contribute to speed overshootings/undershootings, causing capacity loss in the accelerating process and deteriorating congestion in the decelerating case. To reveal the underlying mechanisms, the paper develops an ODE model to analyti-cally approximate the speed overshootings/undershootings and correlate them with the accel/decel constraints as well as ACC control parameters. Besides speed over/undershootings, simulation results also show that accel/decel constraints in ACCs can undermine the string stability.