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Collision-Free Adaptive Cruise Control via a Risk Holding Strategy Based on a Generalized Risk Framework
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DOI：10.1109/TIV.2026.3693769.png)
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Abstract
En 中文
This paper presents a novel control strategy to avoid overshoot and its application to collision-free adaptive cruise control (ACC). A central challenge in ACC design is to ensure collision avoidance under the uncertainty of the preceding vehicle’s future behavior. The uncertain nature of the preceding vehicle arises from various sources, including human variability, unobserved driver intentions, and lack of situational context. Therefore, despite the recent advancements in prediction models, a robust controller is necessary for ensuring collision avoidance. Existing control methods mainly consist of constraint-based and cost-based methods, both of which struggle to quantitatively balance between collision safety and ride comfort. To address this, we propose a generalized risk framework that provides a unified measure for both overshoot risk and control effort. In this study, the overshoot risk is defined as the minimum control effort required to avoid overshoot. The overshoot risk is explicitly expressed by utilizing the poles of the closed-loop system. Based on the general definition of risk, safety indices for standard 2nd- and 3rd-order systems are obtained. In addition, a risk-holding control strategy is proposed, which guarantees non-overshoot while minimizing control effort. This control strategy is applied in the design of a collision-free ACC. Simulation results show robust collision avoidance and enhanced ride comfort for various driving scenarios while MPC shows large variance for different prediction models. Control performance for various road friction conditions is also investigated.
Keywords:
Non-overshooting
collision avoidance
adaptive cruise control (ACC)
full range adaptive cruise control (FRACC)
safety index
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