Defining ACC model parameters

ACC_J

Limits the change in acceleration (jerk). The allowed jerk can also be greater according to the attributes ACC_tau_J_minus and ACC_tau_J_plus.

ACC_MinGapTime

Desired gap time between the vehicle and its interaction target. The total safety distance is: Standstill distance + own speed × minimum gap time..

ACC_StandSafDist

Desired distance to the interaction target at stillstand

ACC_t_s_brake

Target braking is only allowed if the time to the vehicle's standstill is shorter than this attribute. Otherwise, deceleration occurs only according to the gap controller.

ACC_t_s_max

If the lead vehicle requires more time than this value to come to a standstill, the vehicle cannot perform target braking but follows the gap controller according to the attributes ACC_tau_v and ACC_tau_d.

ACC_t_s_min

If the preceding vehicle needs less time than this value to come to a standstill, target braking is performed if the own vehicle also comes to a standstill within the ACC_t_s_brake time.

ACC_tau_cc

Time constant for adjusting speed to the desired speed. Larger values mean slower adjustment.

ACC_tau_d

Along with ACC_tau_v, determines how long it takes to adjust the distance to the interaction target to the safety distance. Larger values mean slower adjustment.

ACC_tau_J_minus

Time constant of jerk limitation to negative jerk, especially when a new interaction target appears

ACC_tau_J_plus

Time constant of jerk limitation to positive jerk, especially if an interaction target is omitted

ACC_tau_v

Determines how long it takes to adjust the speed difference to the interaction target. Larger values mean slower adjustment to the speed of the interaction target.

ACC_v_res

Determines, at low speeds, the period after which the vehicle switches to the gap controller for newly detected lead vehicles according to the attributes ACC_tau_v and ACC_tau_d. The larger the value, the quicker the vehicle switches to the gap controller.