AV following AV experiment

Hua Qing Liu
2025/06/08
Traffic Experiment

Introduction

The AV following AV experiment was performed on March 29, 2021. Two vehicles equipped with developable autonomous driving systems were used in the experiment. See Fig. 1 for the snapshot of the car-following experiment. Both vehicles are front-wheel drive ones reconfigured from CHANGAN Auto.

Fig. 1. The snapshot of the car-following experiment.

Initially the two vehicles are stopped with a standstill spacing G_{min} (rear axle of ego vehicle to the center of preceding vehicle). The data are collected with the frequency of 20 HZ. The leading vehicle tracked a pre-set speed profile, and the following vehicle follows the leading one under the given upper-level longitudinal control algorithm. The vehicles moved straight ahead and did not change lane. Since the steering wheel of the two vehicles is controlled by human driver, this is closer to ACC test, which can also be regarded as an AV in the longitudinal direction.

References:

Liu Huaqing, Zheng Shiteng*, Jiang Rui*, Tian Junfang, Yan Ruidong, Zhang Fang, Zhang Dezhao, 2023. Experimental study and modeling of the lower-level controller of automated vehicle. IEEE Transactions on Intelligent Transportation Systems, 24(11), 11733-11742.

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