Why Anticipatory Sensing Matters in Commercial ACC Systems under Cut-In Scenarios: A Perspective from Stochastic Safety Analysis

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This study presents an analytical solution for the vehicle state evolution of Adaptive Cruise Control (ACC) systems under cut-in scenarios, incorporating sensing delays and anticipation using the Lambert W function.

• The theoretical analysis demonstrates that the vehicle state evolution and the corresponding safety of ACC in cut-in situations are influenced by multiple factors, including the original leading vehicle's state, the initial conditions of the cut-in vehicle, subsequent cut-in maneuvers, sensing delays, and the ACC's anticipation capabilities.
• To quantitatively assess these influences, a series of numerical experiments were conducted to perform a stochastic safety analysis of ACC systems, accounting for embedded sensing delays and anticipation, using empirically calibrated control parameters from real-world data.
• The experiments revealed that the impact of sensing delays on ACC is multifaceted.