Integrated ACC and CACC development for Heavy-Duty Truck partial automation

This paper focuses on the design, implementation and field test of integrated Adaptive Cruise Control (ACC) and Cooperative ACC (CACC) with inter-vehicle communication for Heavy-Duty-Truck (HDT). The objective for developing such a system is to improve the performance of automated longitudinal control (partial automation). System modeling, control design for integrated ACC and CACC with practical string stability and handling a variety of traffic scenarios, such as following a manually driven vehicle (ACC), and cut-in and cut-out by other vehicles, will be considered. Experiments have been successfully conducted with three Volvo trucks with professional drivers on Interstate highways near Berkeley California, mixed with public traffic. Results will be briefly presented.