Improved Braking Control of the Cooperative Adaptive Cruise Control System in Low Speed Traffic Conditions

This paper presents an improved automatic braking controller of the cooperative adaptive cruise control (CACC) system for the low speed traffic condition with frequent stop and go. As inspired from normal drivers´ intuitive braking behavior, the proposed system employs a simple braking control rule. Instead of calculating and tracking a desired deceleration value, the brake controller only determines when to activate the brake in the low speed driving conditions. To validate the proposed controller, car following tests with constant scenario was conducted on the campus of the National Taiwan University. The benefit of using inter-vehicle wireless communication to improve automatic braking control in low speed traffic conditions is demonstrated.