TY - GEN
T1 - Low-level Controllers Play a Decisive Role in the String Stability of Adaptive Cruise Control
AU - Zhou, Hao
AU - Zhou, Anye
AU - Li, Tienan
AU - Chen, Danjue
AU - Peeta, Srinivas
AU - Laval, Jorge
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/9/19
Y1 - 2021/9/19
N2 - Current commercial adaptive cruise control (ACC) systems consist of an upper-level planner controller that decides the optimal trajectory that should be followed, and a low-level controller in charge of sending the gas/break signals to the mechanical system to actually move the vehicle. We find that the low-level controller has a significant impact on the string stability (SS) even if the planner is string stable: (i) a slow controller deteriorates the SS, (ii) slow controllers are common as they arise from insufficient control gains, from a 'weak' gas/brake system or both, and (iii) the integral term in a slow controller causes undesired overshooting which affects the SS. Accordingly, we suggest tuning up the proportional/feedforward gain and ensuring the gas/brake is not 'weak'. The study results are validated both numerically and empirically with data from commercial cars.
AB - Current commercial adaptive cruise control (ACC) systems consist of an upper-level planner controller that decides the optimal trajectory that should be followed, and a low-level controller in charge of sending the gas/break signals to the mechanical system to actually move the vehicle. We find that the low-level controller has a significant impact on the string stability (SS) even if the planner is string stable: (i) a slow controller deteriorates the SS, (ii) slow controllers are common as they arise from insufficient control gains, from a 'weak' gas/brake system or both, and (iii) the integral term in a slow controller causes undesired overshooting which affects the SS. Accordingly, we suggest tuning up the proportional/feedforward gain and ensuring the gas/brake is not 'weak'. The study results are validated both numerically and empirically with data from commercial cars.
KW - ACC
KW - low-level controller
KW - string stability
UR - http://www.scopus.com/inward/record.url?scp=85118459877&partnerID=8YFLogxK
U2 - 10.1109/ITSC48978.2021.9564679
DO - 10.1109/ITSC48978.2021.9564679
M3 - Conference contribution
AN - SCOPUS:85118459877
T3 - IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC
SP - 891
EP - 898
BT - 2021 IEEE International Intelligent Transportation Systems Conference, ITSC 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE International Intelligent Transportation Systems Conference, ITSC 2021
Y2 - 19 September 2021 through 22 September 2021
ER -