The current adaptive cruise control (ACC) systems are susceptible to disruptive behaviors such as mandatory cut-ins, commonly known as "road bullying". To address this issue, this paper introduces an anti-bullying adaptive cruise control (AACC) approach endowed with proactive right-of-way protection capabilities. It bears the following features: i) with the capability of preventing bullying from mandatory cut-ins; ii) with real-time field implementation capability. The proposed approach utilizes inverse optimal control (IOC) technology to discern the driving styles of other road users online, subsequently employing Stackelberg competition for motion planning. Extensive simulation results demonstrate the efficacy of the proposed approach in thwarting bullying from mandatory cut-ins. Additionally, the approach exhibits support for real-time field deployment by maintaining computation times of less than 50 milliseconds.
Research supported by National Key R&D Program of China (No. 2022ZD0115503), National Natural Science Foundation of China (No. 52302412 and 52372317), Shanghai Automotive Industry Science and Technology Development Foundation (No. 2213), Tongji Zhongte Chair Professor Foundation (No. 000000375-2018082), Shanghai Sailing Program (No. 23YF1449600), Shanghai Post-doctoral Excellence Program (No.2022571), China Postdoctoral Science Foundation (No.2022M722405), and the Science Fund of State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle (No. 32215011).
