Development of Driving Robot Model for Vehicles with Adaptive Cruise Control System

As the development of automated driving technology progresses, vehicles equipped with such technology are widely observed in the market. However, the fuel efficiency and emission characteristics with automated driving functions are unknown. In fact, we do not find any technical papers that have made such an evaluation. Therefore, we developed an evaluation method to estimate fuel efficiency and emission characteristics by using the adaptive cruise control (ACC) system on the test course. In the approach adopted for this study, two vehicles were used as the test, and the preceding vehicle equipped with a driving robot was driven precisely to follow the speed pattern defined by the test cycle. The trailing vehicle was driven using the ACC function. Therefore, we developed the driver model of this robot to accurately track the target vehicle speed for the preceding vehicle in these tests. In particular, we added the operation logic of learning control and robot-less operation. In this result, for the preceding vehicle, we confirmed the correct operation of the pedals and ability to track the target vehicle speed. As a result, we could accurately evaluate the vehicle with ACC function and the usefulness of the method for this study was experimentally confirmed.