A driver-adaptive range policy for adaptive cruise control

Abstract

A driver-adaptive range policy for adaptive cruise control is presented. Driver range policies have been analysed using real-world driving data on normal road conditions obtained from 125 participants. A vehicle longitudinal control algorithm has been developed on the basis of the analysis to incorporate the range policy of human drivers into the control strategy. An estimation and adaptation method for characteristic parameters of driver range policy has been investigated. Driver tendency parameters have been estimated during manual driving by means of the recursive least-squares algorithm and then these estimated parameters have been used in the controller adaptation. The vehicle-following characteristics of the cruise-controlled vehicle have been investigated via simulations using real driving radar sensor data and a validated vehicle simulator. The vehicle-following characteristics of cruise-controlled vehicles have been compared with those of manually driven vehicles. The vehicle-following behaviour of cruise-controlled vehicles with the proposed adaptive control strategy is quite close to that of manually driven vehicles. Vehicle-following characteristics that are acceptable to drivers may be achieved by using the driver-adaptive range policy.