Abstract
This paper describes design of a full-range ACC (Adaptive Cruise Control) with collision avoidance braking. The control scheme is designed to control the vehicle so that it would feel natural to the human driver and passengers during normal safe driving situations, to completely avoid collision in vehicle following situations and to reduce the severity of collisions in unexpected emergency situations. Driving situations are determined by using a non-dimensional warning index and time-to-collision (TTC). The proposed control scheme can provide natural following performance similar to human manual driving in both high speed driving and low speed stop-and-go situations and can prevent vehicle collision in dangerous traffic situations such as severe braking of the preceding vehicle during a vehicle following situation.
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