ADVANCE-F's car-following policy on vehicle cruise and automatic speed control

This paper proposes a linear car-following model for the automated vehicles. Basically, when an automated vehicle travels on a highway, there is a transition period before cruise speed. Also, if vehicles travel along a mixed traffic lane, the front car may not be automated, so an automated vehicle may stay in a transition state if the real-time situation evaluation is inadequate to create the cruise mode for speed control. Thus, two separated spacing functions are used for this car-following control model. One is for cruise speed and the other is for transition stage. The control model contains a feedback loop whose gain matrix is derived here. From several simulations, the model is evaluated satisfactory to application. This development will contribute to the ADVANCE-F's project, which is being proposed for Taiwan highway automation.