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ITS Res."],"published-print":{"date-parts":[[2026,4]]},"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:p>This study examines the identification and evaluation of Cooperative Adaptive Cruise Control (CACC) systems created by four major Japanese truck manufacturers, focusing on data gathered from real-world platooning experiments. Utilizing information from a 2019 multi-vehicle field test, we identified CACC control rules by differentiating between acceleration and deceleration phases and implementing constrained linear least-squares estimation. The resulting models accurately replicated the commanded acceleration profiles for each manufacturer\u2019s system with high fidelity. We verified the validity of these models through simulations using TruckMaker and Simulink, which showed that they aligned with experimental vehicle speed responses and effectively reproduced dynamic behaviors. To evaluate operational performance in multi-brand platooning scenarios, we conducted simulations that varied platoon order, deceleration levels, and target time headways. The results identified specific platoon configurations that exhibited decreased gap-keeping stability, indicating that high deceleration or short time headways could negatively affect performance. To enhance this performance, we proposed a control strategy that uses the desired acceleration of the lead vehicle as a feedforward input. Compared to traditional CACC, this proposed method significantly decreased settling time and jerk, particularly during emergency braking conditions, where responsiveness was greatly improved. These findings contribute to the advancement of practical and robust CACC systems for multi-brand truck platooning and lay a foundation for their early implementation in real-world freight logistics.<\/jats:p>","DOI":"10.1007\/s13177-025-00604-7","type":"journal-article","created":{"date-parts":[[2026,1,9]],"date-time":"2026-01-09T13:42:47Z","timestamp":1767966167000},"page":"179-192","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Cooperative Adaptive Cruise Control System Identification in Multi-Brand Truck Platooning"],"prefix":"10.1007","volume":"24","author":[{"ORCID":"https:\/\/orcid.org\/0009-0008-0532-9581","authenticated-orcid":false,"given":"Yukiya","family":"Tomisawa","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Toshiyuki","family":"Sugimachi","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Toshiaki","family":"Sakurai","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shuichi","family":"Yahagi","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2026,1,9]]},"reference":[{"key":"604_CR1","unstructured":"Ministry of Land, Infrastructure, Transport and, Tourism: Summary of the White Paper on Land, Infrastructure, Transport and Tourism 2023. https:\/\/www.mlit.go.jp\/en\/statistics\/content\/001717675.pdf [Accessed 11 June 2025]"},{"key":"604_CR2","first-page":"849","volume":"Report of Final","author":"New Energy and Industrial Development Organization (NEDO)","year":"2013","unstructured":"New Energy and Industrial Development Organization (NEDO): Research and development for cooperative driving (Automated driving). Energy ITS Promotion Project. Report of Final Results, 849\u2013851 (2013). (in Japanese)","journal-title":"Energy ITS Promotion Project"},{"issue":"2","key":"604_CR3","doi-asserted-by":"publisher","first-page":"142","DOI":"10.1007\/s13177-018-0164-8","volume":"17","author":"Toshiyuki Sugimachi","year":"2019","unstructured":"Sugimachi, Toshiyuki, Fukao, Takanori, Ario, Takuma, Suda, Yoshihiro: Steering Control and Automatic Tuning to Compensate for Road Cant. International Journal of Intelligent Transportation Systems Research 17(2), 142\u2013149 (2019)","journal-title":"International Journal of Intelligent Transportation Systems Research"},{"issue":"1","key":"604_CR4","doi-asserted-by":"publisher","first-page":"15","DOI":"10.1016\/S0968-090X(00)00021-8","volume":"9","author":"R Rajamani","year":"2001","unstructured":"Rajamani, R., Shladover, S.E.: An Experimental Comparative Study of Autonomous and Cooperative Vehicle-Follower Control Systems. Transportation Research Part C: Emerging Technologies 9(1), 15\u201331 (2001)","journal-title":"Transportation Research Part C: Emerging Technologies"},{"issue":"1","key":"604_CR5","doi-asserted-by":"publisher","first-page":"63","DOI":"10.3141\/2324-08","volume":"2324","author":"SE Shladover","year":"2012","unstructured":"Shladover, S.E., Su, D., Lu, X.Y.: Impacts of Cooperative Adaptive Cruise Control on Freeway Traffic Flow. Transportation Research Record: Journal of the Transportation Research Board 2324(1), 63\u201370 (2012)","journal-title":"Transportation Research Record: Journal of the Transportation Research Board"},{"key":"604_CR6","doi-asserted-by":"crossref","unstructured":"Gaagai, R., Seeland, F., Horn, J., Cooperative Adaptive Cruise Control of Heterogeneous Vehicle Platoons with Bidirectional Communication, 31st Mediterranean Conference on Control and, Automation: (MED), Limassol, Cyprus, pp.667\u2013673 (2023)","DOI":"10.1109\/MED59994.2023.10185913"},{"key":"604_CR7","unstructured":"Corporation, T.T.: World\u2019s first test of expressway traveling of CACC-mounted trucks platooning with drivers in the following trucks launched. https:\/\/www.toyota-tsusho.com\/english\/press\/detail\/180112_004188.html [Accessed 11 June 2025]"},{"issue":"2","key":"604_CR8","first-page":"765","volume":"44","author":"K Hidaka","year":"2013","unstructured":"Hidaka, K., et al.: Facilitating the flow of traffic in expressway Sag sections using ACC. Trans. Soc. Automot. Eng. Japan Inc. 44(2), 765\u2013770 (2013). (in Japanese)","journal-title":"Trans. Soc. Automot. Eng. Japan Inc"},{"key":"604_CR9","unstructured":"Toyota Tsusho Corporation, FY2019 Research and Development \/ Demonstration Project for the Social Implementation of Advanced Automated: Driving Systems: Demonstration for the Social Implementation of Truck Platooning https:\/\/warp.da.ndl.go.jp\/info:ndljp\/pid\/14052533\/www.meti.go.jp\/meti_lib\/report\/2019FY\/000333.pdf [Accessed 13 June 2025] (in Japanese)"},{"key":"604_CR10","doi-asserted-by":"publisher","first-page":"84","DOI":"10.1007\/s13177-014-0080-5","volume":"12","author":"R Manabu Omae","year":"2014","unstructured":"Manabu Omae, R., Fukuda, T., Ogitsu, Chiang, W.-P.: Control procedures and exchanged information for cooperative adaptive cruise control of Heavy-Duty vehicles using broadcast Inter-Vehicle communication. Int. J. ITS Res. 12, 84\u201397 (2014)","journal-title":"Int. J. ITS Res."}],"updated-by":[{"DOI":"10.1007\/s13177-026-00632-x","type":"correction","label":"Correction","source":"publisher","updated":{"date-parts":[[2026,1,22]],"date-time":"2026-01-22T00:00:00Z","timestamp":1769040000000}}],"container-title":["International Journal of Intelligent Transportation Systems Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s13177-025-00604-7.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s13177-025-00604-7","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s13177-025-00604-7.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,6,16]],"date-time":"2026-06-16T16:31:24Z","timestamp":1781627484000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s13177-025-00604-7"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,1,9]]},"references-count":10,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2026,4]]}},"alternative-id":["604"],"URL":"https:\/\/doi.org\/10.1007\/s13177-025-00604-7","relation":{},"ISSN":["1348-8503","1868-8659"],"issn-type":[{"value":"1348-8503","type":"print"},{"value":"1868-8659","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,1,9]]},"assertion":[{"value":"19 June 2025","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"1 December 2025","order":2,"name":"revised","label":"Revised","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"7 December 2025","order":3,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"9 January 2026","order":4,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"17 January 2026","order":6,"name":"change_date","label":"Change Date","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"Update","order":7,"name":"change_type","label":"Change Type","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"In this article, the author\u2019s name \u201cShuichi Yagahi\u201d is misspelled, it should be \u201cShuichi Yahagi\u201d.","order":8,"name":"change_details","label":"Change Details","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"22 January 2026","order":9,"name":"change_date","label":"Change Date","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"Correction","order":10,"name":"change_type","label":"Change Type","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"A Correction to this paper has been published:","order":11,"name":"change_details","label":"Change Details","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"https:\/\/doi.org\/10.1007\/s13177-026-00632-x","URL":"https:\/\/doi.org\/10.1007\/s13177-026-00632-x","order":12,"name":"change_details","label":"Change Details","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"Not applicable.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethics Approval and Consent to Participate"}},{"value":"Not applicable.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent for Publication"}},{"value":"The authors declare that they have no conflict of interest.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of Interest"}}]}}