Traffic flow-oriented design and analysis of an adaptive cruise control system

In this paper we present a state feedback-based adaptive cruise control strategy for an autonomous vehicle able to operate in an effective and safe manner between speed regulation and position control, depending on the velocity of the precedent vehicle and its relative distance. The algorithm is shown to be stable in each operating mode, and design criteria for the controller parameters are used in order to meet the required performance features. Additionally, the control system is numerically tested in an heterogeneous fleet mixing human drivers and autonomous vehicles, and it is shown how the presence of a limited number of autonomous vehicles equipped with the proposed controller improves the traffic flow in terms of stop-and-go waves reduction.