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An original non-cooperative longitudinal control strategy, based on a new, non-linear and second-order reference model, is studied. The control strategy yields analytical dynamic solutions and pays extreme care to safety constraints. It lowers the safe inter-vehicular distance and is also robust towards errors of sensors when measuring the speed of obstacles. This robustness, valid for slow-moving obstacles as well as fast-moving ones, is a decisive benefit of this strategy. The strategy consists of two main phases depending on vehicles relative interdistance. Considering acceleration and jerk (time derivative of acceleration) as comfort metrics, it is also shown that the control strategy proves comfortable. Simulation results validate the control strategy.
Date of Publication: June 2009