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This article is motivated by the lack of empirical data on the performance ofcommercially available Society of Automotive Engineers level one automateddriving systems. To address this, a set of car following experiments areconducted to collect data from a 2015 luxury electric vehicle equipped with acommercial adaptive cruise control (ACC) system. Velocity, relative velocity,and spacing data collected during the experiments are used to calibrate anoptimal velocity relative velocity car following model for both the minimum andmaximum following settings. The string stability of both calibrated models isassessed, and it is determined that the best-fit models are string unstable,indicating they are not able to prevent all traffic disturbances fromamplifying into phantom jams. Based on the calibrated models, we identify theconsequences of the string unstable ACC system on synthetic and empirical leadvehicle disturbances, highlighting that some disturbances can be dampened evenwith string unstable commercial ACC platoons of moderate size.

Model based string stability of adaptive cruise control systems using field data