Provably-Correct and Comfortable Adaptive Cruise Control

Adaptive cruise control is one of the most common comfort features road vehicles. Despite its large market penetration, current systems are not safe in all driving conditions and require supervision by human drivers. While several previous works have proposed solutions for adaptive control, none these considers comfort, especially event cut-ins. We provide a novel solution that simultaneously meets our specifications provides conditions, including This achieved an exchangeable nominal controller ensuring combined with provably correct fail-safe gradually engages emergency maneuver-this ensures since threats already cleared before braking fully activated. As consequence, can easily exchange without having to overall system safety re-certified. also first user study into provably-correct controller. It shows even though approach never causes accident, passengers rate performance as good state-of-the-art does ensure safety.