The current Adaptive Cruise Control (ACC) systems are vulnerable to "road bully" such as cut-ins. This paper proposed an Anti-bullying Adaptive Cruise Control (AACC) approach with proactive right-of-way protection ability. It bears the following features: i) with the enhanced capability of preventing bullying from cut-ins; ii) optimal but not unsafe; iii) adaptive to various driving styles of cut-in vehicles; iv) with real-time field implementation capability. The proposed approach can identify other road users' driving styles online and conduct game-based motion planning for right-of-way protection. A detailed investigation of the simulation results shows that the proposed approach can prevent bullying from cut-ins and be adaptive to different cut-in vehicles' driving styles. The proposed approach is capable of enhancing travel efficiency by up to 29.55% under different cut-in gaps and can strengthen driving safety compared with the current ACC controller. The proposed approach is flexible and robust against traffic congestion levels. It can improve mobility by up to 11.93% and robustness by 8.74% in traffic flow. Furthermore, the proposed approach can support real-time field implementation by ensuring less than 50 milliseconds computation time.

翻译：当前的自适应巡航控制（ACC）系统易受“路霸”行为（如加塞）的影响。本文提出了一种具备主动路权保护能力的反欺凌自适应巡航控制（AACC）方法。该方法具有以下特征：i) 增强防止加塞欺凌的能力；ii) 最优但不失安全性；iii) 能适应加塞车辆的不同驾驶风格；iv) 具备实时实地实施能力。所提方法能够在线识别其他道路使用者的驾驶风格，并基于博弈论进行路权保护的运动规划。对仿真结果的详细分析表明，所提方法能够有效防止加塞欺凌，并能适应不同加塞车辆的驾驶风格。与现有ACC控制器相比，该方法在不同加塞间隙下可将通行效率提升高达29.55%，同时增强驾驶安全性。所提方法灵活且对交通拥堵水平具有鲁棒性，在交通流中可提升通行能力达11.93%，鲁棒性提高8.74%。此外，通过确保低于50毫秒的计算时间，该方法能够支持实时实地部署。