traffic engineering and safety research of Car-following has become of increased importance. Thus, adaptive cruise control (ACC) and stop-and-go control systems have been deeply studied in recent years [Vahidi and Eskandarian, 2003]. Let us recall that while ACC automatically accelerates or decelerates the vehicle to keep a quasi-constant target elocity and the headway distance, stop-and-go deals with the vehicle circulating in towns with frequent and sometimes hard stops and accelerations.
Some approaches ([Persson et al, 1999], [Yi and Moon, 2004 ]) have tried to reproduce human behavior in order to achieve a ‘comfort-based’ control. Unfortunately, this strategy may not necessarily of safe operation.. Besides, external factors such as road characteristics,
the algorithm is the reference acceleration of the follower vehicle is obtained introduced in [Martinez and Canudas-de-Wit, 2007].
This will constitute a feedforward control in an ideal situation. Our contribution is twofold:
• We will elaborate realistic engine/brake torque to produce the expected reference acceleration of the follower vehicle
• a grey-box control strategy. Compared to classical PD controllers, as proposed in [Martinez and Canudas-de-Wit, 2007], the strength of this approach is that noise perturbations and neglected dynamics will be compensated with algebraic nonlinear estimation, which will lead to a straightforward tuning of the PD coefficients.
To compute the final closed-loop control,