ACC/CACC-control design, stability and robust performance

Variable headway Adaptive Cruise Control (ACC) and Cooperative Adaptive Cruise Control (CACC) based on a sliding mode method are considered in a unified model-based approach. An analysis of robust stability and performance for the closed-loop systems corresponding to different implementations has been carried out. Explicit relationships between distance headway and control design parameters and preceding vehicle speed and acceleration are provided. Teja Software is used for simulation and real-time C/C++ code generation. In simulation, a full vehicle dynamic model is used. It also simulates different maneuvers and several possible approximations in the implementation.