Anti-bullying Adaptive Cruise Control

The current adaptive cruise control (ACC) systems are susceptible to disruptive behaviors such as mandatory cutins, 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 realtime field deployment by maintaining computation times of less than 50 milliseconds.