These are a linear controller coupled with a constant time-headway spacing policy and with two other policies derived from the traffic flow theory, which are the IDM desired-distance function and the Gipps equilibrium distance-speed function. The framework has been applied to the Intelligent Driver Model (IDM), the Gipps model, and to three basic ACCs.
To this aim, a general modelling framework is proposed, in which ACC and CF models have been incrementally augmented with physics extensions namely, perception delay, linear or nonlinear vehicle dynamics, and acceleration constraints. This paper investigates the accuracy and robustness of car-following (CF) and adaptive cruise control (ACC) models used to simulate measured driving behaviour of commercial ACCs.
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