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... this paper. At the upper level, desired vehicle acceleration is computed based on vehicle range and range rate measurement. At the lower (servo) level, an adaptive control algorithm is designed to ensure the vehicle follows the upper level acceleration command accurately. It is shown that the servo-level dynamics can be included in the overall design and string stability can be guaranteed. In other words, the proposed control design produces minimum negative impact on surrounding vehicles. The performance of the proposed ACC algorithm is examined by using a microscopic simulation program---ACCSIM created at the University of Michigan. The architecture and basic functions of ACCSIM are described in this paper. Simulation results under different ACC penetration rate and actuator/engine bandwidth are reported.
Liang et al. (1999) studied this question.