5.2.3

6.2 Path Prediction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 632

6.3 D

6.4 F

6.5 T7 Vehicle-Following Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 638

7.1 Basic Observations with Respect to Vehicle-Following Control . . . . . . . . . . . . . . 638A. Eskanda# Springer-riving Corridor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 633

urther Criteria for Target Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 636

arget Selection Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6366

6.1Target Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 630

Determination of the Path Curvature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6305.2.6 Multi-target Capability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6305.2.5 Vertical Detection Range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6295.2.4Lateral Detection Area for Standard ACC Function . . . . . . . . . . . . . . . . . . . . . . . . . . 627

Lateral Detection Range for FSRA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6285.2.1

5.2.2Distance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 625

Relative Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6265.1

5.2Requirements of the Environmental Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 625

Measurement Ranges and Accuracies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6255 Target Object Detection for ACC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6254.3 Display Elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6234.1

4.2System States and State Transitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 620

Control Elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6224 ACC State Management and HumanMachine Interface . . . . . . . . . . . . . . . . . . . 6203 System Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 619ISO 22179 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6182.2 Additional Functional Requirements for FSR-ACC Pursuant to2.1 Functional Requirements for Standard-ACC Pursuant to ISO 15622 . . . . . . . . 6172 Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6171 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 615Darmstadt, Germany

Technische Universitat Darmstadt, Fachgebiet Fahrzeugtechnik,

Hermann Winner24 Adaptive Cruise Controlrian (ed.),Handbook of Intelligent Vehicles, DOI 10.1007/978-0-85729-085-4_24,

Verlag London Ltd. 2012

8 Target-Loss Strategies and Curve Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 640

8.1 Approach Strategies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 641

8.2 Reaction to Static Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 642

9 Longitudinal Control and Actuators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 642

9.1 Basic Structure and Coordination of Actuators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 642

9.2 Brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 643

9.2.1 Actuator Dynamics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 644

9.2.2 Control Comfort . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 644

61424 Adaptive Cruise Control13.2Current Developments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 654

Function Enhancements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65413

13.1Conclusion and Outlook . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65412.4 Comfort Assessment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65412.3 Driver-Control-Take-Over Situations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65212.2 Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65112

12.1Users and Acceptance Studies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 650

Acceptance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65011 Safety Concept . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65010.2 System Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64810.1 Transparency of the Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64810 Use and Safety Philosophy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6489.3.2 Transmission Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 647Feedback Information [Loss Torque of Ancillary Units]) . . . . . . . . . . . . . . . . . . . . 6469.3.1Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 645

Engine Control (Control Range, Actuator Dynamics, Steps/Accuracy,9.2.3 Feedback Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 645

9.3

example shows that the basic control principle is simple, but it conflicts with comfort and

615convoy stability. Details of additional control functions in curve situations and

approaches are provided.

The driver perspective is addressed in terms of control and display functions and in

terms of satisfaction as ascertained by use and acceptance studies, also taking into account

an extended driver familiarization phase.

1 Introduction

Adaptive Cruise Control, abbreviated to ACC, describes a method of vehicle speed

control which adapts to the traffic situation. Active cruise control, automatic distance

control, automatic cruise control, or autonomous intelligent cruise control tend to be

used as synonyms. Distronic and Automatic Distance Control (ADR) are registered

trademarks.

The relevant international standards are ISO 15622 (Transport information and

control systems Adaptive Cruise Control systems Performance requirements and

test procedures) (ISO TC204/WG14 2002) and ISO 22179 (Intelligent transport systems

Full-Speed-Range Adaptive Cruise Control (FSRA) systems Performance requirements

and test procedures) (ISO TC204/WG14 2008), and, with the former describing the first

functionality, often referred to as the standard ACC, while the second describes an

extension of the functionality for the low-speed range, known as a full-speed-range ACC.

In ISO 15622, the ACC function is described as follows:

" An enhancement to conventional cruise control systems, which allows the subject vehicle to

follow a forward vehicle at an appropriate distance by controlling the engine and/or powerAbstract: Adaptive Cruise Control (ACC) has reached a new quality in driver assistance.

For the first time, a large part of the drivers tasks can be assigned to an automatic

system and the driver relieved to a substantial degree. Based on Cruise Control, ACC

adjusts the vehicle speed to the surrounding traffic. It accelerates and decelerates

automatically when a preceding vehicle is traveling at less than the speed desired by

the driver.

ACC is a key functional innovation and represents a new system architecture with

a high degree of function distribution. The different operating modes and system states

are described along with function limits and transition conditions.