Low-level Controllers Play a Decisive Role in the String Stability of Adaptive Cruise Control

Hao Zhou; Anye Zhou; Tienan Li; Danjue Chen; Srinivas Peeta; Jorge Laval

doi:10.1109/ITSC48978.2021.9564679

Low-level Controllers Play a Decisive Role in the String Stability of Adaptive Cruise Control

Hao Zhou
, Anye Zhou
, Tienan Li
, Danjue Chen
, Srinivas Peeta
, Jorge Laval

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

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.

Original language	English
Title of host publication	2021 IEEE International Intelligent Transportation Systems Conference, ITSC 2021
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	891-898
Number of pages	8
ISBN (Electronic)	9781728191423
DOIs	https://doi.org/10.1109/ITSC48978.2021.9564679
State	Published - Sep 19 2021
Externally published	Yes
Event	2021 IEEE International Intelligent Transportation Systems Conference, ITSC 2021 - Indianapolis, United States Duration: Sep 19 2021 → Sep 22 2021

Publication series

Name	IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC
Volume	2021-September

Conference

Conference	2021 IEEE International Intelligent Transportation Systems Conference, ITSC 2021
Country/Territory	United States
City	Indianapolis
Period	09/19/21 → 09/22/21

Funding

*Cooresponding author This work is supported by the NSF Grant CMMI 1826162, CMMI 1826003, and 1932921.

Keywords

ACC
low-level controller
string stability

Access to Document

10.1109/ITSC48978.2021.9564679

Cite this

Zhou, H., Zhou, A., Li, T., Chen, D., Peeta, S., & Laval, J. (2021). Low-level Controllers Play a Decisive Role in the String Stability of Adaptive Cruise Control. In 2021 IEEE International Intelligent Transportation Systems Conference, ITSC 2021 (pp. 891-898). (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC; Vol. 2021-September). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ITSC48978.2021.9564679

Zhou, Hao ; Zhou, Anye ; Li, Tienan et al. / Low-level Controllers Play a Decisive Role in the String Stability of Adaptive Cruise Control. 2021 IEEE International Intelligent Transportation Systems Conference, ITSC 2021. Institute of Electrical and Electronics Engineers Inc., 2021. pp. 891-898 (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC).

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title = "Low-level Controllers Play a Decisive Role in the String Stability of Adaptive Cruise Control",

abstract = "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.",

keywords = "ACC, low-level controller, string stability",

author = "Hao Zhou and Anye Zhou and Tienan Li and Danjue Chen and Srinivas Peeta and Jorge Laval",

note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 2021 IEEE International Intelligent Transportation Systems Conference, ITSC 2021 ; Conference date: 19-09-2021 Through 22-09-2021",

year = "2021",

month = sep,

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doi = "10.1109/ITSC48978.2021.9564679",

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Zhou, H, Zhou, A, Li, T, Chen, D, Peeta, S & Laval, J 2021, Low-level Controllers Play a Decisive Role in the String Stability of Adaptive Cruise Control. in 2021 IEEE International Intelligent Transportation Systems Conference, ITSC 2021. IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC, vol. 2021-September, Institute of Electrical and Electronics Engineers Inc., pp. 891-898, 2021 IEEE International Intelligent Transportation Systems Conference, ITSC 2021, Indianapolis, United States, 09/19/21. https://doi.org/10.1109/ITSC48978.2021.9564679

Low-level Controllers Play a Decisive Role in the String Stability of Adaptive Cruise Control. / Zhou, Hao; Zhou, Anye; Li, Tienan et al.
2021 IEEE International Intelligent Transportation Systems Conference, ITSC 2021. Institute of Electrical and Electronics Engineers Inc., 2021. p. 891-898 (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC; Vol. 2021-September).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Peeta, Srinivas

AU - Laval, Jorge

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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.

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Zhou H, Zhou A, Li T, Chen D, Peeta S, Laval J. Low-level Controllers Play a Decisive Role in the String Stability of Adaptive Cruise Control. In 2021 IEEE International Intelligent Transportation Systems Conference, ITSC 2021. Institute of Electrical and Electronics Engineers Inc. 2021. p. 891-898. (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC). doi: 10.1109/ITSC48978.2021.9564679

Low-level Controllers Play a Decisive Role in the String Stability of Adaptive Cruise Control

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