@article {459,
	title = {Are commercially implemented adaptive cruise control systems string stable?},
	journal = {IEEE Transactions on Intelligent Transportation Systems},
	year = {2020},
	month = {06/2020},
	pages = {12 pages},
	abstract = {<p>In this article, we assess the string stability of seven 2018 model year adaptive cruise control (ACC) equipped vehicles that are widely available in the US market. A total of seven distinct vehicle models from two different vehicle makes are analyzed using data collected from more than 1,200 miles of driving in designed car-following experiments with ACC engaged by the following vehicle. The data is used to identify the parameters of a linear second order delay differential equation model that approximates the behavior of the proprietary ACC systems. The string stability of the data fitted model associated with each vehicle is assessed, and the main finding is that all seven vehicle models have string unstable ACC systems. For one commonly available vehicle that offers ACC as a standard feature on all trim levels, we validate the string stability finding with a multi-vehicle platoon experiment in which all vehicles are the same year, make, and model. In the multi-vehicle platoon test, an initial disturbance of 6 mph is amplified by 19 mph to a 25 mph disturbance, at which point the last vehicle in the platoon is observed to disengage the ACC and return control to the human driver. The data collected the driving experiments is made available, representing the largest available driving dataset on ACC equipped vehicles.</p>
},
	keywords = {Adaptive Cruise Control, String Stability},
	doi = {10.1109/TITS.2020.3000682},
	url = {http://dx.doi.org/10.1109/TITS.2020.3000682},
	author = {George Gunter and Derek Gloudemans and Raphael E Stern and Sean McQuade and Rahul Bhadani and Matt Bunting and Maria Laura Dell Monache and Benjamin Seibold and Jonathan Sprinkle and Benedetto Piccoli and Daniel B. Work}
}
@conference {460,
	title = {WiP Abstract: String stability of commercial adaptive cruise control vehicles},
	booktitle = {International Conference on Cyber-Physical Systems},
	year = {2019},
	abstract = {In this work, we conduct a series of car-following experiments with seven different ACC vehicles and use the collected data to model the car-following behavior of each vehicle. Using a linear stability analysis, the string stability of each tested vehicle is analyzed. Addition- ally, platoon experiments with platoons of up to eight identical vehicles are conducted to validate the stability findings. Previously, only one commercial ACC system has been evaluated for string stability.
},
	keywords = {Adaptive Cruise Control, String Stability},
	doi = {10.1145/3302509.3313325},
	url = {https://dl.acm.org/citation.cfm?id=3313325},
	author = {George Gunter and Y. Yang and Raphael E Stern and Daniel B. Work and Maria Laura Dell Monache and Rahul Bhadani and Matt Bunting and Roman Lysecky and Jonathan Sprinkle and Benjamin Seibold and Benedetto Piccoli}
}
@article {272,
	title = {Dissipation of stop-and-go waves via control of autonomous vehicles: Field experiments},
	journal = {Transportation Research Part C},
	volume = {89},
	year = {2018},
	month = {04/2018},
	type = {Journal},
	chapter = {205-221},
	keywords = {autonomous vehicles, cyber physical systems},
	doi = {10.1016/j.trc.2018.02.005},
	author = {Raphael E Stern and Shumo Cui and Maria Laura Dell Monache and Rahul Bhadani and Matthew Bunting and Miles Churchill and Nathaniel Hamilton and Hannah Pohlmann and Fangyu Wu and Benedetto Piccoli and Benjamin Seibold and Jonathan Sprinkle and Daniel B. Work}
}
@conference {469,
	title = {A Fuzzy based approach to Dampen Emergent Traffic Waves},
	booktitle = {CAT Vehicle Research Experience for Undergraduates},
	year = {2017},
	month = {01/2017},
	publisher = {CAT Vehicle Research Experience for Undergraduates},
	organization = {CAT Vehicle Research Experience for Undergraduates},
	address = {The University of Arizona},
	abstract = {<p>Adaptive Cruise Control (ACC) and Traffic Aware Cruise Control (TACC) are recent advancements in cruise control design that allow a semi-autonomous vehicle to slow itself when approaching vehicles. The issue with these technologies is that they focus on keeping the distance from a leading vehicle constant. This may lead to unwanted dynamics in the following traffic flow, could result in the creation of traveling waves. \&nbsp;This paper focuses on maintaining a reference velocity based on the relative position of the preceding vehicle instead of slowing down to maintain a certain following distance. Doing so could reduce the amount of braking the vehicles behind the autonomous vehicle will do. With this kind of technology implemented, the number and duration of traffic jams could be greatly reduced. Simulation results and tests run on the University of Arizona{\textquoteright}s Cognitive Autonomous Test (CAT) Vehicle illustrate the feasibility and success of this new controller.</p>
},
	keywords = {Autonomous Systems, Control System},
	author = {R{\textquoteright}mani Haulcy and Nathaniel Hamilton and Rahul Bhadani and Jonathan Sprinkle and Daniel B. Work and Nathalie Risso and Benedetto Piccoli and Maria Laura Dell Monache and Benjamin Seibold}
}
