SMOOTH TRANSITION BETWEEN ADAPTIVE CRUISE CONTROL AND CRUISE CONTROL USING VIRTUAL VEHICLE

摘要

An autonomous vehicle with adaptable cruise control in which a virtual vehicle object is generated to pace the autonomous vehicle for a smooth acceleration when transitioning between an ACC mode and a CC mode. An acceleration profile sets a virtual vehicle object acceleration as a function of a speed difference between the current road speed limit and the current autonomous vehicle speed, and the current autonomous vehicle acceleration. The perception data may be generated for the virtual vehicle object to simulate the existence of the virtual vehicle object on the road traveled by the autonomous vehicle. The generated perception data and acceleration data are provided to an ACC module to control the acceleration of the autonomous vehicle. The acceleration profile of the virtual vehicle object is tunable.