adaptive cruise control system requirements

Status :  Withdrawn

ISO 15622:2010 contains the basic control strategy, minimum functionality requirements, basic driver interface elements, minimum requirements for diagnostics and reaction to failure, and performance test procedures for Adaptive Cruise Control (ACC) systems. Adaptive Cruise Control is fundamentally intended to provide longitudinal control of equipped vehicles while travelling on highways (roads where non-motorized vehicles and pedestrians are prohibited) under free-flowing traffic conditions. ACC can be augmented with other capabilities, such as forward obstacle warning.

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• Status  :  Withdrawn Publication date  :  2010-04 Stage : Withdrawal of International Standard [ 95.99 ]
• Edition  : 2 Number of pages  : 25
• Technical Committee : ISO/TC 204 ICS  : 03.220.20   35.240.60  
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Iso 15622:2002.

• ISO 15622:2010
• 00 Preliminary
• 10.99 2007-07-19 New project approved
• 20.00 2007-07-23 New project registered in TC/SC work programme
• 20.20 2007-07-23 Working draft (WD) study initiated
• 20.99 2008-04-19 WD approved for registration as CD
• 30.99 2008-04-19 CD approved for registration as DIS
• 40.00 2008-06-19 DIS registered
• 40.20 2008-07-01 DIS ballot initiated: 12 weeks
• 40.60 2008-12-03 Close of voting
• 40.99 2009-10-20 Full report circulated: DIS approved for registration as FDIS
• 50.00 2009-12-01 Final text received or FDIS registered for formal approval
• 50.20 2010-02-23 Proof sent to secretariat or FDIS ballot initiated: 8 weeks
• 50.60 2010-03-23 Close of voting. Proof returned by secretariat
• 60.00 2010-03-23 International Standard under publication
• 60.60 2010-04-08 International Standard published
• 90.20 2015-04-15 International Standard under systematic review
• 90.60 2015-09-17 Close of review
• 90.93 2015-10-28 International Standard confirmed
• 90.92 2016-05-27 International Standard to be revised
• 95.99 2018-09-19 Withdrawal of International Standard

ISO 15622:2018

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• Standards catalogue

Adaptive Cruise Control (ACC) Operating Characteristics and User Interface J2399_200312

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Encyclopedia of Systems and Control pp 1–9 Cite as

Adaptive Cruise Control

• Rajesh Rajamani 3  
• Living reference work entry
• First Online: 01 January 2014

727 Accesses

1 Citations

This chapter discusses advanced cruise control automotive technologies, including adaptive cruise control (ACC) in which spacing control, speed control, and a number of transitional maneuvers must be performed. The ACC system must satisfy difficult performance requirements of vehicle stability and string stability. The technical challenges involved and the control design techniques utilized in ACC system design are presented.

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Bibliography

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Rajamani R (2012) Vehicle dynamics and control, 2nd edn. Springer, New York. ISBN:978-1461414322

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Swaroop D, Hedrick JK (1996) String stability of interconnected dynamic systems. IEEE Trans Autom Control 41(3):349–357

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Swaroop D, Rajagopal KR (1999) Intelligent cruise control systems and traffic flow stability. Transp Res C Emerg Technol 7(6):329–352

Swaroop D, Hedrick JK, Chien CC, Ioannou P (1994) A comparison of spacing and headway control laws for automatically controlled vehicles. Veh Syst Dyn 23(8):597–625

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Department of Mechanical Engineering, University of Minnesota, 55455, Twin Cities, Minneapolis, MN, USA

Rajesh Rajamani

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Correspondence to Rajesh Rajamani .

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Electrical and Computer Engineering, Boston University, Boston, Massachusetts, USA

John Baillieul

Automation and Control Solutions, Honeywell, Golden Valley, Minnesota, USA

Tariq Samad

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© 2014 Springer-Verlag London

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Rajamani, R. (2014). Adaptive Cruise Control. In: Baillieul, J., Samad, T. (eds) Encyclopedia of Systems and Control. Springer, London. https://doi.org/10.1007/978-1-4471-5102-9_72-1

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DOI : https://doi.org/10.1007/978-1-4471-5102-9_72-1

Received : 31 July 2014

Accepted : 31 July 2014

Published : 05 September 2014

Publisher Name : Springer, London

Online ISBN : 978-1-4471-5102-9

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What Is Adaptive Cruise Control?

Adaptive cruise control (ACC) is a system designed to help road vehicles maintain a safe following distance and stay within the speed limit. This system adjusts a car's speed automatically so drivers don't have to.

Adaptive cruise control (ACC) is a system designed to help vehicles maintain a safe following distance and stay within the speed limit. This system adjusts a car's speed automatically so drivers don't have to.

Adaptive cruise control is one of 20 terms used to describe its functions so that you might see adaptive cruise control as the following in advertisements and vehicle descriptions:

• Active cruise control
• Dynamic cruise control
• Radar cruise control
• Automatic cruise control
• Intelligent cruise control

ACC functions by sensory technology installed within vehicles such as cameras, lasers, and radar equipment, which creates an idea of how close one car is to another, or other objects on the roadway. For this reason, ACC is the basis for future car intelligence.

These sensory technologies allow the car to detect and warn the driver about potential forward collisions. When this happens, red lights begin to flash, and the phrase 'brake now!' appears on the dashboard to help the driver slow down. There might also be an audible warning.

Advantages of Adaptive Cruise Control

Limitations of adaptive cruise control.

Although there are many advantages to adaptive cruise control, there are still limitations to consider. One of the main faults in this system is the fact that it is not entirely autonomous. The driver of the vehicle still needs to practice safe driving habits that will work in tandem with this technology to produce the best results. Similarly, adverse weather conditions like snow, rain, or fog might confuse the system's sensors, as well as environmental factors such as driving through tunnels.

What Is the Difference Between a Level 1 Autonomous Car and a Level 2 Autonomous Car?

According to SAE International, when a car only has autonomous cruise control , it is considered to be a level 1 autonomous car. In contrast, a vehicle with autonomous cruise control and an additional feature, such as lane control, gets classified as a level 2 autonomous car.

How Much Does an Adaptive Cruise Control System Cost?

According to ExtremeTech, The cost of an adaptive cruise control system will vary depending on how many features you want. If you're going to have an ACC with all available features, you should be willing to pay anywhere between $2000 and $2500. If you are looking for minimal cruise control that would benefit speeds of up to 20-25 miles per hour, these more basic ACCs can cost as low as $500. The good news is that as ACC becomes more common, it will most likely reduce in price.

History of Adaptive Cruise Control

U.S. News says Mitsubishi first introduced adaptive cruise control in Japan in 1992 . This was a lidar-based distance detection system that detected objects that were getting too close. It was labeled as 'Debonair' and it was programmed to provide a warning to the driver about oncoming objects. The main difference was that it was the driver's job to apply the brakes and reduce their speed.

However, two years later in 1995, the Mitsubishi Diamante featured an upgraded approach to the Debonair called 'Preview Distance Control.' Unlike the original technology, this laser-powered system could adjust a driver's speed by downshifting or controlling the throttle. The driver was still responsible for applying the brakes.

From the early 2000s onward, big names in the car industry, such as Ford, BMW, Mercedes, Cadillac, Volkswagen, Infinity, Hyundai, Toyota, and Audi, created their versions of adaptive cruise control in their vehicles. These individual features have evolved into a high-tech system with automatic braking and speed control.

Types of Adaptive Cruise Control

Radar-based systems.

According to eInfoChips, radar-based systems work by placing radar-based sensors on or around plastic fascias to detect your vehicle's surroundings. Each radar sensor works together to create a comprehensive picture of the vehicle's proximity to other cars or potentially hazardous objects. This type of sensor can look different depending on the design and model of the car.

Laser-Based Systems

As mentioned by Electronic Design , this type of ACC system operates out of a large black box typically placed in the grille of your vehicle. It uses laser technology to detect the proximity of objects to your car. It does not operate well during rainstorms and other weather conditions.

Binocular Computer Vision Systems (Optical)

According to ExtremeTech, this is a relatively new ACC system put into use in 2013. It uses small cameras that are placed on the back of a vehicle's rearview mirror to detect front-facing objects.

Assisting Systems

Assisting systems are radar-based add-ons that customers can buy together. These pre-crash systems can offer lane control, brake assistance, cruise control, proximity alerts to objects like corners, and steering power.

Multi-Sensor Systems

According to Fierce Electronics , adaptive cruise control systems sometimes integrate more than one type of sensor to aid in a vehicle's operation. Multi-sensor systems incorporate several different sensor types to provide a driver with advanced information. These sensors might include GPS data equipment or cameras to gather information about a vehicle's geographic environment and proximity to other cars.

Predictive Systems

As mentioned by Autoblog, prediction systems are a type of ACC that uses sensory data to predict the actions of neighboring vehicles. This means that your car might slow down to brace for another vehicle suddenly switching lanes and, in doing so, promotes passenger safety.

Adaptive cruise control is evolving each year. Car companies are continuously making adjustments to this technology and, in doing so, creating more common and affordable options that can be purchased with a new car or added to older car models, making driving safer for everyday people.

Information and research in this article verified by ASE-certified Master Technician Keith Canete of YourMechanic.com . For any feedback or correction requests please contact us at [email protected] .

https://www.einfochips.com/blog/why-automotive-companies-should-adopt-radar-based-adas-systems/

https://www.electronicdesign.com/markets/automotive/article/21797633/adaptive-cruise-control-laser-diodes-as-an-alternative-to-millimeterwave-radars

https://www.autoblog.com/2015/01/14/new-honda-smart-cruise-control-predicts-other-motorists-future/

https://www.fierceelectronics.com/components/three-sensor-types-drive-autonomous-vehicles

https://www.extremetech.com/extreme/157172-what-is-adaptive-cruise-control-and-how-does-it-work

https://mycardoeswhat.org/safety-features/adaptive-cruise-control/

https://cars.usnews.com/cars-trucks/what-is-adaptive-cruise-control

https://www.caranddriver.com/features/columns/

https://www.sae.org/

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Adaptive Cruise Control: What is ACC in ADAS?

• June 3, 2021

Table of Contents

What is ACC in ADAS?

When it comes to cars, ACC stands for Adaptive Cruise Control. In a Consumer Reports survey , 85 percent of drivers with Adaptive Cruise Control (ACC) on their vehicles said they were very satisfied with it. What’s more, 19 percent said their ACC system helped to avoid a crash.

Standard cruise control has been around since the 1950s . Adaptive cruise control has been in development since the 1990s . Mercedes was the first automaker to bring ACC to the U.S. market in 1999 . Twenty years later, automakers are still working to improve their cruise control offerings. In the meantime, ACC technology has become one of the building blocks of autonomous driving.

In this article, we will explain adaptive cruise control and how it works, provide examples of ACC features in ADAS packages, and explain the importance of adaptive cruise control calibration.

What is Adaptive Cruise Control?

Adaptive cruise control or Active Cruise Control (ACC) is an advanced driver assistance system (ADAS) that automatically adjusts a vehicle’s speed when there are slow-moving vehicles ahead, with the aim of maintaining a safe following distance. When the road ahead is clear, ACC automatically accelerates to your pre-set speed. Adaptive cruise control is ideal for highway speeds.

ACC is a major component and precursor of fully autonomous vehicles. According to SAE , Driving Automation Level 1 driver support features provide steering OR brake/acceleration to the driver while the jump to Level 2 requires features that provide both steering AND brake/acceleration to the driver. On its own, ACC is a Level 1, but when combined with another driver assist feature that steers, your vehicle reaches Level 2 on the Driving Automation scale – a step closer to fully autonomous driving .

As a foundation of autonomous driving, ACC has the capability of reducing driver stress and radically improving driver safety. A study from the Highway Loss Data Institute studied insurance claims data from 2013-2017 BMW vehicles to see how ADAS affected collision, damage, and injury rates. The BMW Driving Assistance package added ACC to the following ADAS: Forward Collision Warning , Lane Departure Warning , Front Automatic Emergency Braking . With the addition of ACC, this package reduced the rates of property damage by 27 percent and bodily injury claim rates by 37 percent.

How does Adaptive Cruise Control work?

Just as with traditional cruise control, the adaptive cruise control system requires drivers to choose their preferred speed. Next, ACC requires drivers to set their preferred following distance from the vehicle’s pre-set options. Many have close, medium, and far selections to toggle between.

Sensors Used in Adaptive Cruise Control

Vehicles with adaptive cruise control use ACC sensor data to tell your car’s speed, distance from other vehicles, and the speed of vehicles ahead of you. There are many types of adaptive cruise control technology. The following types of sensors have all been used for ACC:

• Laser (Lidar)

Most (but not all) current forms of this ADAS use radar as their main source of information. A radar sensor mounted in the front of the vehicle is used to analyze the road ahead. It does this by emitting radio waves and measuring how long they take to return to the ACC sensor. A few internal calculations and your vehicle can tell the car’s distance and speed. Data from the radar distance sensors and the vehicle speed sensors are used to adjust your speed and keep your car a set distance from the one ahead of you.

ACC System Versions and Commonly Bundled ADAS

Most automakers have their own version of adaptive cruise control. Not everyone uses the same names for their ACC system. Here are a few industry terms that are all different names for ACC:

• Dynamic cruise control
• Intelligent cruise control
• Radar cruise control
• Radar adaptive cruise control
• Dynamic laser cruise control
• Autonomous cruise control
• Smart cruise control
• Dynamic radar cruise control

ACC with Stop & Go, Traffic Jam

Beyond the similar naming, there are several different features that adaptive cruise control is often bundled with to provide sensor fusion. One example of this is a feature called ACC with Stop and Go or ACC with Traffic Jam Assist. This adds the ability to come to a complete stop via automatic braking and then re-accelerate to the car’s set speed as traffic moves. All the while, data from sensors is used to keep a set, safe distance from cars ahead when you encounter heavy traffic.

Because it’s not an autonomous car, those with stop and go capabilities will only “go” again within three seconds if traffic flow allows. If it’s longer than three seconds, driver action is needed to re-engage the system.

ACC + Forward Collision Warning & Automatic Braking

Forward Collision Warning and Automatic Emergency Braking (AEB) advanced driver assistance systems are often combined with ACC to provide audible alerts, instrument panel alerts, and tactile warnings of a forward collision risk, then automatic braking to prevent or mitigate damage from a collision.

ACC + Lane Centering

Adaptive Cruise Control works well with others. As previously mentioned, when adaptive cruise control is combined with an ADAS with steering capabilities like lane centering and proactive lane keeping assist systems, your car is considered a Level 2 on the SAE autonomous driving scale — meaning that the vehicle can accelerate, decelerate, and steer on its own — under very specific conditions, including initiation speed and weather. While it’s a step up in terms of driving automation, for safety, a human driver is still required to supervise constantly, including steering, braking, or accelerating.

ACC + GPS or Traffic Sign Recognition

Some ACC systems offer advanced traffic sign recognition , while others utilize GPS speed limit data. These optional ACC features help to combat the use of ACC technology to speed.

4 Examples of Adaptive Cruise Control

There are many different flavors of ACC. Names, tech, and bundled features make the automotive landscape — dotted with endless features, diverse names, and function variations — a bit tricky to navigate. To help you recognize ACC features, here are four automaker examples.

Ford Adaptive Cruise Control

Ford is one example of an automaker with adaptive cruise control. Here’s how Ford’s describes its system and capabilities:

“Available on select Ford vehicles is a series of Adaptive Cruise Control (ACC) features employing advanced radar and camera technology. ACC lets you set a cruising speed and distance from the vehicle ahead of you. When it slows down, you automatically do too; when traffic picks back up, you resume your preset speed and distance. Then comes ACC with Stop-and-Go, which enables you to come to a complete stop when the vehicle ahead stops. Now add Lane Centering, which scans the lane markings to help you stay in your lane if the system detects you’re drifting out of it. And that’s not all. Now there’s Intelligent Adaptive Cruise Control, which includes all of these features plus new Speed Sign Recognition that can automatically adjust the set speed of your vehicle to the posted speed limit.”

Honda Adaptive Cruise Control (ACC) with Low-Speed Follow

In the Honda Sensing ADAS package, the automaker offers ACC on many 2021 models with what it calls Low Speed Follow. Here’s how Honda describes it :

“Cruising on the open highway has never been easier! Honda’s Adaptive Cruise Control (ACC) with Low-Speed Follow lets you set your cruise speed and interval behind a vehicle detected ahead, and then maintains that interval by braking your vehicle or applying the throttle.  And the Low-Speed Follow function can bring your vehicle to a complete stop when a vehicle detected ahead slows to a stop, and it lets you resume operation by pressing a button or the accelerator.”

Hyundai Smart Cruise control (SCC) with Stop & Go

Hyundai offers adaptive cruise control, including on the Santa Fe. Here’s how the automaker describes it :

“While traveling at a speed set by you, it uses radar to maintain a safe distance from the car ahead. When the system slows the vehicle to a stop, it will reactivate if the vehicle in front moves within 3 seconds.”

Hyundai also offers Highway Driving Assist that works together with Smart Cruise Control. Here’s how Hyundai describes this feature :

“Your “co-pilot” for highway driving, when actively engaged with Smart Cruise Control or Lane Following Assist, this smart convenience automatically helps keep you centered in your lane and traveling at a safe distance behind the car ahead. Not only that, it also can keep you driving at the right speeds, automatically setting your pace based on GPS and highway data.”

Subaru EyeSight Adaptive Cruise Control

As part of Subaru’s Eyesight Driver Assist Technology Package, ACC is standard on many of the brand’s 2021 models and optional on the rest. It uses dual forward-facing color cameras mounted near the rearview mirror. Here’s how Subaru describes its ACC system in a promotional video :

“With adaptive cruise control, eyesight can help you stay with the flow of traffic. When you set cruise control, you can select from up to four present following distances. EyeSight watches ahead and if it detects traffic is slowing, adaptive cruise control adjusts your speed accordingly to keep your selected distance. Once traffic starts moving faster, it can automatically accelerate back up to your set speed. It can even work in stop-and-go traffic.

For some, it’s less worry about adjusting cruise control. For others, it’s like having an extra set of eyes on the road.”

Adaptive Cruise Control Limitations

Drivers should know that they are responsible for what happens when they are behind the wheel. Every company makes sure to include an asterisk and notice that drivers are still needing to be actively engaged in driving. Some drivers are using ACC to speed . A study of 40 drivers by the Insurance Institute for Highway Safety (IIHS) found that they were more likely to speed when equipped with ACC.

ACC works well in clear day and night driving, and in light weather. However, if there is fog, heavy rain, or snow, it won’t work. Additionally, if dirt, snow, or ice are on the sensors, they won’t work. ACC also has trouble on winding roads.

With or without ACC, it’s important to always leave more space during poor driving conditions, including inclement weather.

Adaptive Cruise Control Calibration

ACC is one of the most common ADAS features in vehicles today. Like other ADAS systems, ACC needs to have sensors recalibrated after a collision and many vehicle services like windshield replacement . ADAS calibration keeps ACC systems working properly.

What is adaptive cruise control calibration?

Adaptive Cruise Control calibration takes place when the camera, lidar, and radar sensors that inform your vehicle’s actions are re-aligned to improve or re-establish sensor accuracy.

Getting a car calibrated takes drivers knowing about it and recognizing the warning signs.

ACC Calibration Warnings for Drivers

For drivers, the biggest sign that you need a car calibration is a recent collision. Other circumstances that necessitate Adaptive Cruise Control calibration include any time you repair or replace something nearby the location of a sensor. Another sign would be an overly sensitive ACC system, even when you have changed the settings (where possible). Here are some related warning messages that may signal it’s time to get an ADAS calibration:

• Adaptive cruise control sensor blocked
• Adaptive cruise control failure
• Adaptive cruise control temporarily unavailable

ADAS Calibration for Auto Shops

When a car comes into the shop, techs need to know when to order or perform ADAS calibrations . They also need to understand their importance. If calibrated incorrectly, ACC systems may have following distance settings that drivers aren’t used to. They can also make the systems overly sensitive, or not sensitive enough.

Every new model year brings more and more ADAS-equipped vehicles to the streets. Cars need to be calibrated after collisions, and any repairs that may affect sensor alignment. If you want to capitalize on this impending influx of needed calibrations, Car ADAS Solutions can help. We are at the forefront of the ADAS calibration services industry. We provide turnkey ADAS calibration solutions with framework, specialty software, training, and support, built-in. Contact Car ADAS Solutions today !

Additional ACC Resources:

• Cars with Adaptive Cruise Control – Car and Driver
• 10 Best Cars with Adaptive Cruise Control – TrueCar
• Adaptive Cruise Control – MyCarDoesWhat.org

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Cruise FAQs

How to calibrate adaptive cruise control.

Picture yourself cruising down the highway, smoothly moving along as your vehicle maintains a safe distance from the vehicle in front. The adaptive cruise control serves almost like a dependable guide, always vigilant and ready to take action. Yet, what happens if this system starts to lose its accuracy? At this point, calibration becomes crucial.

In this article, I will guide you through the process of calibrating your adaptive cruise control, ensuring that it functions at its optimal level. We will delve into the basics, locate the calibration procedure in your vehicle’s owner’s manual, and prepare your vehicle for the calibration process.

Then, we will hit the open road, following step-by-step instructions to perform the calibration. And if any adjustments are needed, don’t worry, I’ve got you covered.

So let’s dive in and ensure your adaptive cruise control is finely tuned for a safe and smooth driving experience.

Table of Contents

Key Takeaways

• Professional technician consultation is important for complex calibration troubleshooting and specialized knowledge required for common calibration issues.
• Regular maintenance and inspection are crucial for the longevity and performance of adaptive cruise control, including troubleshooting techniques and cleaning sensors to remove debris or dirt.
• Ensuring secure and corrosion-free electrical connections is vital for optimal performance, with regular testing of connections to ensure accurate detection and response to vehicles.
• Calibrated adaptive cruise control offers benefits such as improved accuracy in maintaining distance, better responsiveness to changing traffic conditions, enhanced collision avoidance capabilities, and a serene and secure driving experience.

Understand the Basics of Adaptive Cruise Control

To understand the basics of adaptive cruise control, it is important to know how this feature works. Adaptive cruise control is a revolutionary technology that enhances the safety and convenience of driving. It uses sensors, such as radar or laser, to detect the distance and speed of the vehicles ahead. This system not only maintains a set speed, but also automatically adjusts the vehicle’s speed to maintain a safe following distance. By reducing driver fatigue and minimizing the risk of rear-end collisions, adaptive cruise control greatly enhances safety on the road.

To calibrate adaptive cruise control, it is crucial to first understand its benefits. Exploring the different types of adaptive cruise control technologies, such as radar-based or camera-based systems, will help you understand the specific calibration procedure for your vehicle. Once you have a clear understanding of the technology used in your vehicle, you can locate the calibration procedure in your vehicle’s owner’s manual. Following the instructions provided in the manual will ensure that your adaptive cruise control is calibrated correctly and functions optimally.

Locate the Calibration Procedure in Your Vehicle’s Owner’s Manual

When you’re ready to fine-tune your vehicle’s advanced driving features, flip through your owner’s manual to find the step-by-step procedure for optimizing your car’s automated speed management system.

Calibration process is crucial to ensure that your adaptive cruise control functions accurately and safely. Here are three important things to know about the calibration process:

Read the instructions carefully: The owner’s manual will provide specific instructions on how to calibrate your adaptive cruise control system. It’s important to follow these instructions precisely to ensure accurate calibration.

Locate the necessary tools: Depending on your vehicle, you may need specific tools to calibrate the system. Make sure you have these tools ready before starting the calibration process.

Take your time: Calibration requires precision and attention to detail. Rushing through the process can result in inaccurate calibration, leading to potential issues with your adaptive cruise control system.

Now that you understand the importance of calibration, let’s move on to the next section where we will discuss how to prepare your vehicle for calibration.

Prepare Your Vehicle for Calibration

To prepare your vehicle for calibration, follow these steps:

Gather the necessary tools and set aside ample time for the precise and meticulous preparation needed for calibration.

Conduct a thorough vehicle inspection, checking for any damages or loose components that could affect the calibration process.

Ensure that all sensors and cameras related to the adaptive cruise control system are clean and free of any obstructions.

Make sure that the tires are properly inflated and in good condition, as accurate speed measurements are crucial for calibration.

If you encounter any issues during the inspection, consult the calibration troubleshooting section of your vehicle’s owner’s manual for guidance.

Once the vehicle is ready, find a safe and open road to perform the calibration. Ensure that you have enough space to safely accelerate and decelerate while the system calibrates itself.

Find a Safe and Open Road to Perform the Calibration

Before hitting the road for calibration, it’s essential to locate a secure and spacious route where you can smoothly accelerate and decelerate, allowing the system to fine-tune itself like a skilled artist perfecting their masterpiece.

The importance of choosing the right weather conditions for calibration cannot be overstated. Ideally, select a day with clear skies and minimal wind to ensure accurate results. Rain, fog, or strong gusts can interfere with the system’s performance and compromise calibration accuracy.

Additionally, finding a suitable location for calibration is crucial. Look for a road with minimal traffic and no obstructions, such as traffic lights or stop signs, to enable uninterrupted driving. A straight stretch of road is preferable, as it allows for consistent speed and distance control.

Once you have found the ideal location, follow the step-by-step instructions for calibration to ensure a successful outcome and a finely tuned adaptive cruise control system.

Follow the Step-by-Step Instructions for Calibration

Now, it’s time to carefully follow the step-by-step instructions to ensure your system is perfectly tuned and ready to enhance your driving experience.

Start by finding a safe and open road where you can perform the calibration without any distractions or potential hazards.

Familiarize yourself with the controls and settings of your adaptive cruise control system.

Follow the manufacturer’s instructions for initiating the calibration process, which typically involves pressing a specific sequence of buttons or accessing a calibration menu.

Pay close attention to the prompts or indicators on your vehicle’s display or instrument cluster, as they will guide you through the calibration process.

During the calibration, it’s important to keep in mind a few tips for troubleshooting calibration issues and avoid common mistakes:

Ensure that all sensors, cameras, and radar are clean and free from any obstructions.

Make sure the vehicle is parked on a level surface to ensure accurate calibration.

Avoid performing the calibration in extreme weather conditions, such as heavy rain or snow, as it may affect the accuracy of the calibration.

If you encounter any issues during the calibration process, refer to your vehicle’s user manual or contact the manufacturer’s customer support for assistance.

By following these steps and avoiding common mistakes, you can ensure a successful calibration of your adaptive cruise control system.

Now, you’re ready to test the adaptive cruise control system after calibration, ensuring a smoother and safer driving experience.

Test the Adaptive Cruise Control System After Calibration

After following the step-by-step instructions for calibration, it’s time to test the adaptive cruise control system to ensure it’s working correctly. Start by driving on a clear and open road, preferably with minimal traffic.

Activate the cruise control and set your desired speed. Observe how the system responds to the surrounding vehicles. Pay close attention to the distance between your vehicle and the one in front of you.

If the system maintains a safe distance and adjusts the speed smoothly, then the calibration was successful. However, if you notice any issues such as abrupt braking or inconsistent speed adjustments, you may need to make adjustments.

Troubleshooting tips include checking the sensor alignment, cleaning the sensors, and ensuring there are no obstructions. If necessary, make adjustments to the calibration settings to optimize the performance of the adaptive cruise control system.

Make Adjustments if Necessary

Don’t hesitate to fine-tune the settings if you want to ensure a smoother and safer driving experience. Adjusting the sensitivity of your adaptive cruise control system can help customize it to your preferences and driving conditions. If you find that the system is not responding as expected or is too sensitive, you can lower the sensitivity level. On the other hand, if you feel that the system is not detecting vehicles quickly enough or is not maintaining a safe distance, you can increase the sensitivity level. Troubleshooting problems with adaptive cruise control can be challenging, but making adjustments to the sensitivity settings is a good first step. However, if calibration issues persist, it is recommended to consult a professional for further assistance.

Consult a Professional if Calibration Issues Persist

If you’re still experiencing issues with the accuracy and responsiveness of your vehicle’s advanced driving assistance system, it may be wise to consult a professional technician. Calibration troubleshooting can be complex, and common calibration issues may require specialized knowledge to resolve.

A professional technician will have the necessary tools and experience to diagnose and address any problems with your adaptive cruise control system. They can perform advanced calibration procedures and ensure that all sensors and components are properly calibrated for optimal performance. They can also identify any underlying mechanical or electrical issues that may be affecting the calibration.

By consulting a professional, you can ensure that your adaptive cruise control system is accurately calibrated, providing you with a safe and reliable driving experience.

Regularly maintaining and inspecting your adaptive cruise control system is crucial for its longevity and performance.

Regularly Maintain and Inspect Your Adaptive Cruise Control System

To ensure optimal performance and longevity of your ACC system, it is important to regularly inspect and maintain it. Regular maintenance is crucial in order to keep your adaptive cruise control functioning smoothly and effectively. Here are a few troubleshooting techniques to help you identify and address any issues that may arise:

• Check for any debris or dirt that may be blocking the sensors and clean them if necessary.
• Verify that all the electrical connections are secure and free from corrosion.
• Test the system periodically to ensure that it is accurately detecting and responding to vehicles in front of you.

By following these regular maintenance steps and troubleshooting techniques, you can ensure that your adaptive cruise control system is calibrated and operating at its best.

With a well-maintained system, you can enjoy a safe and smooth driving experience.

Enjoy a Safe and Smooth Driving Experience with Calibrated Adaptive Cruise Control

Immerse yourself in the feeling of effortlessly gliding down the open road, with your vehicle’s advanced technology expertly navigating the flow of traffic for a serene and secure journey. Calibrating your adaptive cruise control system is crucial to ensure a safe and smooth driving experience.

Calibration benefits include improved accuracy in maintaining a set distance from the vehicle ahead, better responsiveness to changing traffic conditions, and enhanced collision avoidance capabilities.

To achieve optimal calibration, it is essential to avoid common calibration mistakes. One common mistake is failing to properly align the sensors or cameras that are integral to the adaptive cruise control system. Misalignment can lead to inaccurate readings and compromised functionality.

Another mistake is neglecting to update the system’s software regularly. Software updates often include improvements and bug fixes that enhance the system’s performance.

By following proper calibration procedures and avoiding common mistakes, you can enjoy the full benefits of your vehicle’s adaptive cruise control system, ensuring a safe and enjoyable journey on the road.

Frequently Asked Questions

What is the purpose of calibrating adaptive cruise control.

The purpose of calibrating adaptive cruise control is to ensure its accurate functionality and to enhance safety by maintaining a consistent distance from the vehicle ahead. This calibration is important as it allows for benefits like improved control and reduced driver workload.

How often should adaptive cruise control be calibrated?

Adaptive cruise control should be calibrated regularly, like tuning a musical instrument. The calibration frequency depends on the manufacturer’s recommendation, but typically it is recommended to calibrate it every 12 months using the necessary equipment provided by the manufacturer.

Can I calibrate adaptive cruise control myself, or do I need professional assistance?

I recommend seeking professional assistance to calibrate adaptive cruise control. Although a DIY calibration process may seem tempting, the benefits of professional assistance include precise adjustments and ensuring optimal performance for your vehicle’s safety features.

Are there any specific safety precautions to take during the calibration process?

During the calibration process for adaptive cruise control, it is essential to follow specific safety measures. This includes ensuring a clear and open space for calibration, checking for any obstructions or debris, and verifying that all required equipment is in proper working condition.

What potential issues can arise if adaptive cruise control is not calibrated correctly?

What potential dangers and consequences can arise if adaptive cruise control is not calibrated correctly? Will the system fail to detect obstacles, leading to accidents and collisions? These are critical concerns that highlight the importance of accurate calibration.

In conclusion, calibrating your adaptive cruise control system is crucial for a safe and smooth driving experience. You can easily calibrate the system yourself by following the step-by-step instructions in your vehicle’s owner’s manual.

If any issues persist, it’s recommended to consult a professional for further assistance.

A properly calibrated adaptive cruise control system, like a finely tuned instrument, will navigate the roads with the precision of a surgeon’s scalpel. It will give you peace of mind on your journey.

Meet Asra, a talented and adventurous writer who infuses her passion for exploration into every word she writes. Asra’s love for storytelling and her insatiable curiosity about the world make her an invaluable asset to the Voyager Info team.

From a young age, Asra was drawn to the power of words and their ability to transport readers to far-off lands and magical realms. Her fascination with travel and cultures from around the globe fueled her desire to become a travel writer, and she set out on a journey to turn her dreams into reality.

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Meet Asra, a talented and adventurous writer who infuses her passion for exploration into every word she writes. Asra’s love for storytelling and her insatiable curiosity about the world make her an invaluable asset to the Voyager Info team. From a young age, Asra was drawn to the power of words and their ability to transport readers to far-off lands and magical realms. Her fascination with travel and cultures from around the globe fueled her desire to become a travel writer, and she set out on a journey to turn her dreams into reality.

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Luxury river cruising on the amamagna: unforgettable danube experience.

Bask in the opulence and tranquility of luxury river cruising on the AmaMagna along the Danube, where every moment promises unparalleled indulgence and sophistication…

As we navigate the majestic Danube aboard the luxurious AmaMagna, a voyage that promises to redefine the concept of upscale river cruising, we are greeted by an ambiance of sophistication and tranquility.

The allure of this floating oasis beckons us to experience a world where every detail is meticulously curated to elevate our journey to unparalleled heights.

From the opulent staterooms to the culinary delights awaiting us, each aspect of this voyage whispers of unparalleled luxury and indulgence, leaving us eager to uncover more about this enchanting experience.

• AmaMagna offers unparalleled luxury and comfort with spacious accommodations and opulent amenities.
• Indulge in exquisite dining experiences at four unique restaurants, complemented by regional wines and specialty teas.
• Explore iconic European destinations like Vienna and Budapest with guided tours to historic landmarks and UNESCO sites.
• Enjoy a high level of service, breathtaking views, and plush comforts for an unforgettable Danube cruise experience.

AmaMagna: Setting Sail in Style

Embarking on the AmaMagna is like stepping into a world where luxury and elegance converge to create an unforgettable river cruising experience. As we explored the spacious accommodations onboard this luxurious River Cruise Line vessel, we were impressed by the variety of stateroom options available. From cozy 205 sq. ft. rooms with fixed windows to expansive 474 sq. ft. suites featuring outside balconies, the AmaMagna truly caters to different preferences.

The luxurious amenities provided, such as air conditioning, internet access, and balconies in most rooms, ensured a comfortable stay throughout our journey on the Danube River.

The high level of service offered by the AmaMagna staff enhanced our experience, making us feel truly pampered. The staterooms were equipped with conveniences like a hair dryer, bathrobe, television, and mini-safe, adding to the overall luxury and comfort of our stay. With breathtaking views from our balconies and the impeccable service received, our time on the AmaMagna was indeed an unforgettable experience.

Unveiling the Luxurious Staterooms

What makes the staterooms on the AmaMagna a luxurious retreat for guests during their river cruise experience?

The AmaMagna offers a selection of 98 spacious staterooms and 53 luxurious suites, catering to various preferences. Ranging from 205 sq. ft. staterooms with fixed windows to expansive 474 sq. ft. suites with outside balconies, these accommodations provide a range of choices for guests. Decked out with modern amenities like air conditioning, internet access, hair dryers, and TVs, the staterooms ensure a comfortable stay.

Most rooms also boast balconies, allowing guests to take in the picturesque views along the Danube River. Designed to be a cozy retreat, these staterooms offer a blend of elegance and relaxation. Whether unwinding in the plush bathrobe provided or enjoying the convenience of a mini-safe, guests can revel in the luxurious experience of the AmaMagna's staterooms as they cruise through the Danube River.

Indulgent Amenities on Board

Guests aboard the AmaMagna are treated to an array of indulgent amenities that elevate their river cruise experience to unparalleled levels of luxury and comfort. The ship boasts 98 spacious staterooms and 53 luxurious suites, offering accommodations ranging from 205 sq. ft. staterooms with fixed windows to expansive 474 sq. ft. suites with outside balconies. Each room is equipped with air conditioning, internet access, and balconies in most cases, ensuring guests' comfort throughout their journey on the Danube.

Additionally, passengers can expect a range of features such as a hair dryer, plush bathrobes, a television, and a mini-safe, providing a touch of convenience and elegance to their stay. These amenities are thoughtfully curated to provide a high level of luxury and comfort, allowing guests to unwind and indulge in the opulence of their surroundings while cruising the picturesque waters of the Danube.

Exquisite Dining Experiences

Discover a world of culinary excellence aboard the AmaMagna, where four unique restaurants beckon with a symphony of flavors to delight your senses. Indulge in exquisite dining experiences with multi-course dinners showcasing regional cuisine crafted from locally sourced ingredients. Each meal is an adventure, paired perfectly with complimentary regional wines, beer, and soft drinks to elevate your luxury river cruising experience.

Start your day with a buffet-style breakfast offering a plethora of options to suit every palate. For lunch, explore a variety of dishes made with fresh ingredients that reflect the region's culinary heritage. As the sun sets over the Danube, immerse yourself in the culinary delights of specialty teas, coffees, and delectable desserts while soaking in the breathtaking views around you.

The expertly crafted menus onboard the AmaMagna promise to tantalize your taste buds and create unforgettable dining moments during your journey. Experience a fusion of flavors and luxury on this remarkable cruise.

Exploring Danube's Iconic Destinations

Embark on a captivating journey along the Danube River aboard the AmaMagna and delve into the essence of iconic destinations like Vienna, Bratislava, and Budapest. The AmaMagna cruise offers guided tours to landmarks such as the Palace of Schönbrunn in Vienna and St. Stephen's Cathedral, providing insights into the rich history of these cities. In Budapest, immerse yourself in Hungarian culture by visiting the Great Market Hall, Heroes Square, and Castle Hill. The cruise also includes stops at UNESCO World Heritage Sites, abbeys, and fortresses along the Danube, providing a glimpse into the grandeur of historic European locations.

Experience the luxury accommodations of the AmaMagna while cruising through picturesque landscapes, creating unforgettable memories along the Danube.

What Are the Best Months for a River Cruise on the Danube?

We recommend cruising the Danube from April to October. May and June offer blooming landscapes and longer days. July and August provide warmth for outdoor fun. September and October showcase autumn colors with fewer crowds. April features mild temps and spring blossoms.

What Is the Dress Code for Amawaterways River Cruise?

For an AmaWaterways river cruise, the dress code blends smart casual with evening elegance. Women may wear dresses or slacks, men dress pants with collared shirts. Comfortable shoes for excursions and stylish attire suit the relaxed, elegant atmosphere onboard.

Which Side of the Ship Is Best for Danube River Cruise?

For the best Danube River cruise experience, consider both sides of the ship. The starboard side offers stunning river landscapes and landmarks, while the port side showcases picturesque towns and attractions. Choose based on your sightseeing preferences.

Is Danube River Cruise Worth It?

Absolutely, a Danube River cruise is worth it! Exploring iconic cities, enjoying regional cuisine, and experiencing breathtaking landscapes make it unforgettable. With daily excursions catering to various fitness levels, it's a fantastic journey for all.

As we sail along the Danube on the luxurious AmaMagna, we're truly swept away by the beauty and elegance of this remarkable river cruise experience.

The ship is a floating palace, offering a feast for the senses and a journey of a lifetime.

Like a shimmering jewel on the water, the AmaMagna dazzles with its opulence and grandeur, creating memories that will sparkle in our hearts forever.

Claire, a creative soul with an unquenchable thirst for storytelling, is an integral part of the Voyager Info team. As a dedicated writer, she weaves captivating narratives that transport readers to enchanting cruise destinations and beyond.

Claire’s love affair with writing began at an early age when she discovered the magic of words and their ability to craft worlds and emotions. Her innate curiosity led her to explore various literary genres, but it was travel writing that truly captured her heart. Drawing inspiration from her own globetrotting adventures and encounters with diverse cultures, Claire embarked on a journey to become a travel writer par excellence.

What Is A Virtual Balcony On A Cruise Ship

Hello! Have you ever dreamed of sailing across the open seas but felt discouraged by the expensive price tag attached to cabins with a view? Fear not, for I’m thrilled to introduce you to the incredible world of virtual balconies on cruise ships.

These nifty little inventions bring the beauty of the ocean right into your interior cabin, making you feel like you’re lounging on a private veranda overlooking the waves.

So, how do these virtual balconies work, you ask? It’s quite simple, really. High-definition screens are strategically placed in your cabin, displaying real-time views of the outside world. That means you can wake up to breathtaking sunrises, watch dolphins play in the water, and even witness the majestic sight of glaciers passing by—all from the comfort of your cozy room.

Not only do these virtual balconies provide an immersive experience, but they also enhance your overall cruise adventure. Imagine the joy of feeling connected to the open ocean, even if you’ve chosen an interior cabin for budget reasons. Plus, they’re available on various cruise lines and come at a fraction of the cost of a traditional balcony cabin.

So, sit back, relax, and let me take you on a virtual voyage like no other. Welcome to the world of virtual balconies on cruise ships!

• Virtual balconies are becoming popular on cruise ships and are offered by many major cruise lines on newer ships.
• Passenger experiences with virtual balconies are generally positive, with passengers praising the realistic and high-definition views and the sense of connection with the scenery.
• Virtual balconies offer advantages such as enjoying the scenery without worrying about the elements or obstructed views, but some passengers find the experience artificial and occasional technical glitches have been reported.
• The future of virtual balcony technology holds potential for further advancements, including the integration of virtual reality technology, advancements in display technology for higher resolution and realism, and the possibility of incorporating augmented reality elements.

Introduction to Virtual Balconies

Get ready to experience the ultimate cruise ship upgrade with virtual balconies! Virtual balconies are a revolutionary addition to cruise ship cabins that offer passengers the perks of a traditional balcony, without actually having one.

One of the main advantages of virtual balconies is that they provide passengers with a stunning view of the ocean, even if their cabin is located on the inside of the ship. This means that everyone can enjoy the breathtaking sights and sounds of the sea, regardless of their cabin choice.

Additionally, virtual balconies also offer more natural light to the cabin, creating a brighter and more spacious atmosphere. However, there are a few disadvantages to virtual balconies, such as the potential for motion sickness if watching the screen for an extended period of time.

Now that you know the advantages and disadvantages, let’s dive into how virtual balconies work.

How Virtual Balconies Work

Imagine stepping into a breathtakingly realistic simulation that transports you to a scenic outdoor oasis, allowing you to experience the serenity of open-air living without ever leaving the comfort of your luxurious floating sanctuary. This is the magic of virtual balcony technology.

Virtual balconies are a revolutionary feature found on some cruise ships, particularly in interior cabins where actual balconies are absent. Utilizing high-definition screens, these virtual balconies display real-time footage of the ship’s surroundings, giving guests the illusion of having their own private outdoor space. The screens are strategically placed to mimic the perspective of a real balcony, providing an immersive and visually stunning experience.

With virtual balcony technology, guests can enjoy the beauty of the sea, the sky, and the ports of call, all from the comfort of their cabin.

As we delve into the benefits of virtual balconies for interior cabin guests, let’s explore how this innovative technology is changing the cruise experience.

Benefits of Virtual Balconies for Interior Cabin Guests

Step into your interior cabin and instantly transport yourself to a scenic outdoor oasis with the breathtakingly realistic simulation of a virtual balcony. As an interior cabin guest, you may not have access to a traditional balcony, but the benefits of a virtual balcony are just as fulfilling.

Enhanced Experience: With a virtual balcony, you can enjoy the illusion of being surrounded by the beauty of the ocean, lush landscapes, and stunning sunsets. It adds depth and visual appeal to your cabin, making it feel more spacious and inviting.

Natural Light: The virtual balcony displays real-time views of the outside world, allowing natural light to flood your cabin. This creates a brighter and more cheerful atmosphere, enhancing your overall cruise experience.

By providing interior cabin guests with virtual balconies, cruise ships ensure that every passenger can enjoy the beauty of the outdoors and feel connected to the surrounding environment. It’s a thoughtful feature that adds value and enhances the overall enjoyment of your cruise vacation.

Real-Time Views of the Outside World

You’ll be amazed at how the real-time views of the outside world in your interior cabin will make you feel like you’re actually on a balcony, immersing you in the natural beauty that surrounds the ship. With the help of real-time streaming technology, virtual balconies provide guests with a window to the outside world.

From the comfort of your cabin, you can enjoy a live feed of the ocean, ports of call, and breathtaking landscapes passing by. The interactive features allow you to zoom in or out, pan across different views, and even take snapshots to capture those memorable moments. The high-definition screens display the scenes in stunning detail, making you feel like you are right there.

This immersive experience with high-definition screens takes your cruise vacation to a whole new level, bringing the outside world to your fingertips.

Immersive Experience with High-Definition Screens

Get ready to be transported to another world as you witness the breathtaking beauty of the outside through crystal-clear, high-definition screens. The immersive technology of a virtual balcony on a cruise ship offers a truly unique and captivating experience.

These high-definition screens are strategically placed in staterooms, providing passengers with a virtual reality experience that simulates the feeling of being on a traditional balcony. The screens display real-time views of the ocean and surrounding landscapes, making you feel as if you are actually there. The level of detail and clarity is truly impressive, allowing you to immerse yourself in the beauty of nature without stepping foot outside your room.

It’s an incredible way to bring the outside world inside and enhance your overall cruise experience.

Simulating the Experience of a Traditional Balcony

Imagine feeling the ocean breeze on your face and seeing the sun set over the horizon, all from the comfort of your own stateroom. With a virtual balcony on a cruise ship, these simulated views are brought to life through the power of virtual reality. By utilizing high-definition screens, the virtual balcony provides passengers with a visual experience that mirrors the sights and sounds of a traditional balcony.

The screens display real-time footage captured by cameras placed strategically around the ship, giving passengers the illusion of being outside and immersed in their surroundings. Whether it’s watching dolphins play in the waves or enjoying the stunning views of a port city, the virtual balcony enhances the cruise experience by offering a genuine connection to the natural beauty of the ocean.

Transitioning into the next section, let’s explore how additional features on a cruise ship further enhance the overall experience.

Enhancing the Cruise Experience

Now let’s shift our focus to how virtual balconies enhance the overall cruise experience. These innovative features not only simulate the experience of a traditional balcony but also go above and beyond to provide additional entertainment options and improve customer satisfaction.

Virtual balconies offer a range of immersive experiences, allowing guests to feel fully immersed in the stunning views and atmosphere of the surrounding destinations. With high-definition screens displaying real-time footage from outside the ship, guests can enjoy the beauty of the ocean and ports of call from the comfort of their cabin.

Additionally, virtual balconies often come equipped with interactive features, such as touchscreens that provide information about the destinations, onboard activities, and dining options. By enhancing entertainment options and improving customer satisfaction, virtual balconies truly elevate the cruise experience to new heights.

Moving forward, let’s explore the availability and cost of these innovative features.

Availability and Cost of Virtual Balconies

You may be wondering about the availability and pricing of these immersive features that enhance your cruise experience. Virtual balconies are becoming increasingly popular on cruise ships, and many major cruise lines now offer them on their newer ships. However, availability can vary depending on the specific ship and itinerary. It’s always best to check with the cruise line or your travel agent to see if the ship you’re interested in has virtual balconies available.

As for pricing, virtual balconies are typically included in the price of the cabin, so there’s usually no additional cost. However, it’s important to note that prices can vary depending on the cruise line, ship, and cabin category.

Now, let’s take a look at what passengers have to say about their experiences with virtual balconies.

Passenger Reviews and Feedback on Virtual Balconies

If you were to ask passengers who have experienced the immersive features of virtual balconies firsthand, they would likely rave about the breathtaking vistas, the sense of connection with the open sea, and the added luxury it brings to their overall cruise experience.

Passenger satisfaction with virtual balconies is generally high, with many praising the realistic and high-definition views that make them feel like they’re truly on a traditional balcony. The ability to enjoy the scenery without having to worry about the elements or obstructed views is a major advantage.

However, some passengers have mentioned that the experience can feel artificial and lacks the authenticity of a real balcony. Additionally, there have been occasional technical glitches reported with the virtual balcony screens.

Despite these minor drawbacks, virtual balconies have proven to be a popular and enjoyable feature for many cruise passengers. Looking ahead, future innovations in virtual balcony technology are expected to further enhance the immersive experience and address any current limitations.

Future Innovations in Virtual Balcony Technology

As technology continues to evolve, imagine the future innovations that will transport you to breathtaking vistas and create an even more immersive experience aboard a cruise ship. The future advancements in virtual balcony technology promise to take this concept to new heights.

With ongoing research and development, cruise lines are constantly working on improving the virtual balcony experience for passengers. One potential improvement could be the integration of virtual reality technology, allowing passengers to feel like they’re truly standing on a balcony overlooking the ocean.

Additionally, advancements in display technology could lead to higher resolution and more realistic views, making the virtual balcony experience even more convincing. Cruise lines may also explore the possibility of incorporating augmented reality elements, such as virtual wildlife or historical landmarks, to further enhance the virtual balcony experience.

The future of virtual balcony technology holds great potential for creating an even more immersive and awe-inspiring cruise experience.

Can virtual balconies be accessed from any cabin on the cruise ship?

Yes, virtual balconies can be accessed from any cabin on the cruise ship. This innovative virtual balcony technology allows guests to enjoy the benefits of a real balcony, such as panoramic views and natural light, from the comfort of their own cabin.

Are virtual balconies available on all cruise lines?

Virtual balconies are available on select cruise lines. The pros of virtual balconies include lower cabin prices and the ability to enjoy virtual views. However, some passengers prefer the real thing, impacting cruise ship sales.

Can passengers control the view on their virtual balcony?

Yes, passengers can control the breathtaking views on their virtual balcony. With the interactive virtual balcony technology, I can easily switch between different scenes and feel like I’m truly enjoying the ocean vistas.

Is there a limit to the number of people who can view the virtual balcony at the same time?

The virtual balcony technology on the cruise ship allows for an unlimited number of viewers to enjoy the simulated view simultaneously. This cutting-edge feature provides a realistic experience for all passengers on board.

Are virtual balconies available on all types of cruise ships or only specific ones?

Virtual balconies are available on specific cruise ships that have implemented the virtual balcony technology. These innovative features offer passengers the benefits of a real balcony, such as stunning views and fresh air, without the need for physical outdoor space.

In conclusion, the virtual balcony on a cruise ship is a technological marvel that transports guests to another world. It offers an immersive experience like no other with its high-definition screens and real-time views. From the comfort of their interior cabins, passengers can now enjoy the beauty of the outside world.

This innovation has truly enhanced the cruise experience, giving guests a taste of luxury and adventure. As virtual balcony technology continues to evolve, we can only imagine the future wonders it will bring to the world of cruising.

Unveiling Luxury River Cruising With Abercrombie & Kent

Kaleidoscope of opulence and discovery awaits on Abercrombie & Kent's luxurious river cruises – dive into a world of unmatched sophistication and hidden gems.

Embarking on a journey with Abercrombie & Kent unveils a world of luxury and sophistication across majestic rivers. The blend of opulence and discovery awaits, promising an experience that transcends mere travel.

The unparalleled service and exquisite accommodations set the stage for an adventure that goes beyond the ordinary.

The question remains: what hidden gems and unparalleled experiences lie ahead on this luxurious river cruise exploration?

• Small group journeys limited to 24 guests for an intimate experience
• Gourmet dining with locally sourced ingredients and opulent settings
• Exclusive shore excursions in major destinations for cultural immersion
• All-balcony accommodations on elegant riverboats for a luxurious stay

Unmatched Luxury Experiences Aboard

Embark on a lavish journey filled with exclusive adventures and unparalleled luxury aboard Abercrombie & Kent's opulent river cruises. The intimate experiences provided on these river cruises are truly exceptional, with small group journeys limited to just 24 guests. During European river cruises, guests are treated to A&K-exclusive shore excursions that showcase the very best of each destination, coupled with stays in charming boutique hotels in major cities along the way. The elegant riverboats themselves offer all-balcony accommodations, ensuring that every guest enjoys breathtaking views of the picturesque landscapes passing by.

What truly sets Abercrombie & Kent's river cruises apart are the expert-led expeditions that allow guests to delve deeper into the heart of Europe's great rivers. These expert guides provide insightful commentary and lead immersive experiences, enriching the journey with their knowledge and expertise. Whether cruising along the Danube, Rhine, or other waterways, travelers can expect a tranquil voyage that's both luxurious and enlightening. And for a truly serene experience, the European Canal Barge Cruises offer a peaceful way to explore the beauty of France and beyond.

Culinary Delights Onboard Abercrombie & Kent

Indulge in a symphony of culinary delights aboard Abercrombie & Kent's luxurious river cruises, where locally sourced ingredients elevate the dining experience to new heights. The gourmet dishes served on these cruises are a testament to the exceptional offerings provided by Abercrombie & Kent, ensuring a high-end dining experience that resonates with luxury travelers.

Here's what awaits you:

• Locally Sourced Ingredients: Immerse yourself in the flavors of the region as you savor dishes crafted from the freshest local ingredients.
• Two Restaurants: Enjoy a variety of culinary delights at two onboard restaurants, each offering a unique menu to tantalize your taste buds.
• Enhanced Journey: The focus on gourmet dining enhances the immersive experience of cruising along Europe's rivers, creating unforgettable memories with every meal.
• Luxurious Dining: Elevate your dining experience to new levels of sophistication and opulence, where every bite is a celebration of culinary artistry.

Embark on a gastronomic adventure with Abercrombie & Kent and discover a world of culinary excellence that mirrors the beauty of the destinations you'll explore.

Personalized Service Beyond Expectations

Experiencing Abercrombie & Kent's luxury river cruises entails being enveloped in a world of personalized service that surpasses all expectations. The maximum group size of 24 guests ensures an intimate setting where every need is meticulously catered to. A&K goes above and beyond by offering exclusive shore excursions that immerse travelers in the local culture, complemented by stays in boutique hotels in major cities. During Connections® European River Cruise Journeys, guests indulge in delightful meals at reserved tables, fostering a sense of camaraderie with like-minded individuals. The European Canal Barge Cruises provide a serene setting for relaxed sightseeing, with a focus on exquisite food, fine wines, and the epitome of private luxury vacations. A&K's commitment to personalized service extends beyond the river, allowing travelers to seamlessly blend land exploration with the comforts of river cruising. With A&K, every moment is crafted to ensure a truly extraordinary journey.

Exclusive Shore Excursions To Remember

Immerse yourself in a tapestry of unparalleled cultural encounters on Abercrombie & Kent's European River Cruises through their meticulously crafted exclusive shore excursions. As we journey along Europe's great rivers, we're enveloped in luxury and cultural immersion, creating unforgettable memories with like-minded travelers.

Here's what makes these exclusive shore excursions truly remarkable:

• A&K-Exclusive Experiences: Gain access to unique experiences and boutique hotels in major cities, offering a glimpse into the local culture and history.
• Intimate Group Setting: With a maximum group size of 24 guests, enjoy personalized attention and a more intimate exploration of each destination, fostering a sense of camaraderie.
• Reserved Dining: Indulge in meals at reserved tables, surrounded by fellow travelers who share a passion for discovery and luxury, enhancing the overall experience.
• Deeper Cultural Immersion: Designed to delve deeper into the essence of each port of call, these excursions offer a profound connection to the beauty and heritage of the destinations we visit.

The Elegance of Abercrombie & Kent

As we navigate the enchanting waters of Europe's great rivers with Abercrombie & Kent, a world of elegance unfolds before us, captivating our senses with refined luxury and sophistication. Abercrombie & Kent's river cruises redefine the concept of luxury, offering intimate experiences with a maximum group size of 24 guests. From the moment we step onboard, we're enveloped in a sense of exclusivity, where every detail exudes elegance. The accommodations in boutique hotels in major cities along the journey are meticulously selected, ensuring a seamless blend of comfort and sophistication.

Meals on Abercrombie & Kent river cruises aren't just about sustenance but are elevated to social and cultural experiences, with reserved tables allowing us to connect with like-minded travelers. The focus on intimacy and luxury is further accentuated during A&K-exclusive shore excursions, where we explore hidden gems and iconic landmarks with expert guides. In this setting, every moment is an opportunity to appreciate the scenic waterways of Europe in a relaxed and opulent atmosphere.

Are Tauck River Cruises All Inclusive?

Yes, Tauck River Cruises are mostly all-inclusive, covering accommodations, meals, excursions, and onboard activities. Some extra costs like gratuities and premium beverages may apply. Guests revel in guided excursions, onboard enrichment, and top-notch service.

Did Abercrombie and Kent Buy Crystal Cruises?

No, Abercrombie & Kent did not buy Crystal Cruises. Both companies offer luxurious travel experiences independently. Abercrombie & Kent specializes in expedition cruises, river cruises, and canal barge cruises, while Crystal Cruises focuses on luxury ocean voyages.

What Is an Upscale Cruise?

An upscale cruise is a luxurious voyage where opulence meets exceptional service, pampering guests with lavish amenities and personalized attention. It's a journey of elegance and indulgence, providing a truly refined and unforgettable experience.

What Is the History of Abercrombie and Kent?

We started in 1962, leading luxury travel with safaris. We grew into small group journeys, expeditions, and river cruises. Over 30 years, we've mastered expert-led expeditions. Our focus on excellence earns us a top spot in luxury travel.

As we bid farewell to the luxurious river cruising experience with Abercrombie & Kent, we can't help but yearn for more.

The lingering taste of exquisite culinary delights, the personalized service that felt like a warm embrace, and the exclusive shore excursions that left us in awe.

The elegance and opulence of Abercrombie & Kent have set a new standard in luxury travel.

Stay tuned for our next adventure, where more unforgettable experiences await.

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• PMC10302586

Adaptive Cruise System Based on Fuzzy MPC and Machine Learning State Observer

Jianhua guo.

1 College of Automotive Engineering, Jilin University, Changchun 130025, China

Yinhang Wang

Chenguang bai.

2 Intelligent and Connected Vehicle Development Institute, China FAW Corporation Limited, Changchun 130013, China

Zhuoran Hou

3 Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130025, China

Associated Data

Not applicable.

Under the trend of vehicle intelligentization, many electrical control functions and control methods have been proposed to improve vehicle comfort and safety, among which the Adaptive Cruise Control (ACC) system is a typical example. However, the tracking performance, comfort and control robustness of the ACC system need more attention under uncertain environments and changing motion states. Therefore, this paper proposes a hierarchical control strategy, including a dynamic normal wheel load observer, a Fuzzy Model Predictive Controller and an integral-separate PID executive layer controller. Firstly, a deep learning-based dynamic normal wheel load observer is added to the perception layer of the conventional ACC system and the observer output is used as a prerequisite for brake torque allocation. Secondly, a Fuzzy Model Predictive Control (fuzzy-MPC) method is adopted in the ACC system controller design, which establishes performance indicators, including tracking performance and comfort, as objective functions, dynamically adjusts their weights and determines constraint conditions based on safety indicators to adapt to continuously changing driving scenarios. Finally, the executive controller adopts the integral-separate PID method to follow the vehicle’s longitudinal motion commands, thus improving the system’s response speed and execution accuracy. A rule-based ABS control method was also developed to further improve the driving safety of vehicles under different road conditions. The proposed strategy has been simulated and validated in different typical driving scenarios and the results show that the proposed method provides better tracking accuracy and stability than traditional techniques.

1. Introduction

With the continuous advancement of smart vehicles, advanced driving assistance systems (ADASs) are being utilized more frequently [ 1 , 2 , 3 ]. Among its many functions, the Adaptive Cruise Control (ACC) system stands out due to its ability to manage the vehicle’s longitudinal speed and maintain a safe distance from the vehicle in front. This feature reduces the driver’s workload, making it an integral technology in the industry [ 4 , 5 ].

ACC systems typically employ hierarchical control, which is composed of three layers: perception, decision and execution [ 6 , 7 ]. The primary role of the perception layer is to acquire the kinematic information from the vehicle and transmit it to the decision layer. There are two categories of information that this layer processes: relative motion information between the vehicle and the target vehicle (such as inter-vehicle distance and relative velocity) primarily detected via sensors including radar or camera [ 8 ]; and the vehicle’s motion state information (e.g., velocity and acceleration), which is typically obtained via onboard sensors. Nonetheless, for commercial vehicles, their high center of gravity and large load characteristics necessitate consideration of the dynamic vertical wheel load influence while designing ACC systems [ 9 ]. The most widely used method to estimate dynamic vertical wheel load involves estimating a vehicle model. However, the accuracy of the estimation using this technique is limited by the model’s precision, warranting further discussion on the credibility of the results. The decision layer determines the desired acceleration of the vehicle based on the kinematic information gathered by the perception layer and subsequently commands the execution layer to perform driving or braking operations. Finally, the execution layer includes the driving and braking system that responds to the desired acceleration issued by the decision layer, ultimately enabling the adaptive cruise function.

The operation of Adaptive Cruise Control (ACC) is influenced by various factors such as driving scenarios, engine characteristics and braking system characteristics. It can be reduced to a nonlinear optimal tracking control problem with external disturbance. In the development of the ACC system’s decision layer, several methods are applied, such as PID control, MPC control and fuzzy control. Among them, PID control is favored by the industry due to its low hardware configuration requirements and good control robustness when encountering interference. M. Canale et al. [ 10 ] used a robust PI controller to adjust the ACC system response according to a specified speed reference curve. Mahmood, Ali K et al. [ 11 ] took into consideration key action parameters of the vehicle and used two PID controllers to adjust the throttle and brake, respectively. Liang, J et al. [ 12 ] developed a vehicle acceleration controller based on parallel control theory utilizing the self-learning function of a neural network. However, the PID method requires a considerable amount of parameter adjustment work and cannot achieve optimal control in actual driving scenarios, making it an unsuitable method for ACC control. Model predictive control (MPC) can use future vehicle information for optimal multi-objective control, making it a focal point among researchers. Scholars have proposed various improvements on MPC for ACC, including Zengfu Yang’s [ 13 ] algorithm combining MPC and active disturbance rejection control, using feed forward control based on the vehicle dynamic model (VDM) and compensation control based on ADRC to improve control accuracy and suppressing the influence of internal or external disturbance. Li SB [ 14 ] uses the feedback-correction method to compensate for prediction error and improve system state prediction accuracy. The constraint-management method was utilized to soften the input/output constraints of the prediction optimization problem by modifying the cost function while avoiding calculation infeasibility caused by large tracking errors. Sangmoon Lee [ 15 ] proposed an event-triggered model predictive controller for an Adaptive Cruise Control system utilizing sampled and quantized data. Zeeshan Ali Memon [ 16 ] performed a parametric study on the MPC method to assess the response of the ACC system during critical maneuvering times. Even though the existing MPC approach is highly dependent on model accuracy, it still has great potential for improvement. Fuzzy logic has unique advantages in dealing with nonlinear problems, making it an appropriate method for designing the weight factor of the dynamic comprehensive performance index function based on fuzzy rules utilizing model predictive control [ 17 ].

Currently, two methods are primarily used for the adaptive cruise execution layer control. One method involves establishing a high-precision longitudinal dynamic model, which requires obtaining several accurate vehicle parameters for dynamic modeling [ 18 , 19 ]. However, changes in external conditions will affect the model’s response, making it challenging to achieve optimal performance. The other method replaces the longitudinal dynamic model with a simple linear model. Although this method is easy to implement, its anti-interference ability is poor and affects control outcomes adversely. To address this problem, this paper proposes using the integral-separated PID approach to realize actual acceleration tracking of desired acceleration [ 20 ]. This method avoids system overshoot and oscillation problems, thus enhancing the response speed and accuracy of the actuator layer.

In conclusion, this paper proposes a Fuzzy Model Predictive Control strategy for the Adaptive Cruise Control system based on a dynamic normal wheel load observer. In this control strategy, the observer provides accurate reference for brake force distribution, and the Fuzzy Model Predictive Controller ensures the ACC system’s balance between tracking performance and comfort and adapts to changing driving conditions, while the executive controller ensures the system’s response speed and execution accuracy. Finally, the joint simulation verifies the effectiveness of the observer and ACC system’s control. The main contributions of this paper are as follows:

• (1) In the dynamic normal wheel load observer, Random Forest (RF) is adopted for feature recognition and dimensionality reduction and the processed data are input to the fully connected neural network (FCNN) for estimating the dynamic normal wheel load of the vehicle, which provides a new idea for estimating the vehicle’s dynamic parameters.
• (2) Fuzzy rules are combined with model predictive control methods to overcome the poor adaptability of model predictive control methods to nonlinear problems. The control parameters can be adjusted according to fuzzy rules to adapt to dynamic changes, thereby enhancing the controller’s robustness.
• (3) In the executive layer’s control, the integral-separate PID method is used to avoid oscillation caused by the integral action and enhance the system’s response speed, improving the system’s dynamic performance. The braking safety of the vehicle is further increased by designing a rule-based ABS control method.

The rest of the paper is organized as follows. Section 2 introduces the key component models of the vehicle, including the engine, tire, etc. Section 3 describes the specific control strategy. Section 4 discusses the simulation results, and the key conclusions of the paper are summarized in Section 5 .

2. Vehicle and Component Model

This paper focuses on the rear-mounted rear-drive intercity bus, as illustrated in Figure 1 . The primary components of the vehicle include the radar, controller, steering system, driving system and braking system. The radar primarily obtains a target vehicle’s relative distance and velocity information. The controller consists of a state observer that detects real-time changes in dynamic vertical wheel load and an ACC system controller. The driving system incorporates the engine control unit (ECU), engine, transmission and other related parts. The braking system includes the air compressor, air storage cylinder, brake controller unit (BCU) and double channel axle modulator (DAM), the pneumatic brake actuator.

Vehicle configuration.

The vehicle parameters are shown in Table 1 .

Vehicle parameters.

2.1. Vehicle Mathematical Model

During vehicle operation, it is necessary to balance the driving torque provided by the vehicle with various resistances, including air resistance, slope resistance and acceleration resistance. The equation expressing the driving force is presented in Equation ( 1 ).

where m denotes the vehicle mass, v denotes the vehicle longitudinal velocity, T t q denotes the engine torque, η t denotes the transmission efficiency, r denotes the wheel rolling radius, C D denotes the wind resistance coefficient, A denotes the windward area, ρ denotes the air density, f denotes the road rolling resistance co-efficient, β denotes the road grade, δ = 1 + 1 m ∑ I w r 2 + 1 m I f i g 2 i 0 2 η t r 2 denotes the rotary mass coefficient, I w denotes the rotating inertia of the wheels, I f denotes the rotating inertia of the flywheel, i 0 denotes the main reduction gear ratio and i g denotes the vehicle transmission ratio.

When the vehicle is in a driving state, based on the current vehicle’s required acceleration, Equation ( 1 ) can be transformed into Equation ( 2 ) to calculate the required torque of the engine under the current state.

2.2. Engine Model

Establishing an accurate engine model is challenging due to the complexity of its physical characteristics and the numerous factors that affect its working characteristics. In this paper, based on experimental data from a diesel engine, the relationships between engine speed, torque and throttle opening were established, as Figure 2 shows.

The map of the engine.

During the driving process of the vehicle, Equation ( 2 ) can be used to obtain the corresponding driving torque value required for the expected longitudinal acceleration. Then, the value can be processed by looking up the mapping diagram of the engine torque characteristics for the ACC vehicle. By using the known engine torque T t q and engine speed ω e , the throttle opening α d e s required for the expected longitudinal acceleration can be obtained, as shown in Equation ( 3 ).

2.3. Brake Model

The brake system is comprised of a compressor that serves as a high-pressure air source, a storage cylinder, a double channel axle modulator (DAM) for regulating brake pressure, a brake air chamber, brake calipers and brake discs that convert pressure into brake torque. Pneumatic disc brakes offer several advantages such as a simple structure, lightweight, low noise and fast heat dissipation, which can contribute to improving vehicle active safety. The braking torque on a vehicle equipped with this brake can be computed using Equation ( 4 ) as follows:

where P b is braking pressure; A b is braking contact area; η b is braking efficiency; μ b is braking friction coefficient; r b is effective braking radius; c b is brake coefficient. When K b = 2 A b η b μ b r b c b , Equation ( 4 ) can be simplified as Equation ( 5 ).

where K b is the brake conversion factor, Table 2 gives the brake-related parameter settings in the simulation, the units are all international system units and the brake conversion factor can be calculated as K b = 0.0022 .

Brake-related parameter setting.

Corresponding to the driving state, the braking torque of the vehicle can be expressed as Equation ( 6 ).

Given the expected brake torque, the corresponding expected brake pressure value P b can be calculated according to the above formula. By comparing this value with the maximum brake pressure value of the ACC vehicle, the corresponding brake pedal opening value for vehicle deceleration control can be obtained. The calculation of the ACC vehicle’s brake pedal opening is expressed as Equation ( 7 ).

where β d e s is the brake pedal opening, P b is the wheel demand brake pressure and P b max is the upper limit of wheel brake pressure.

2.4. Tire Model

The tire is the sole component of a vehicle that makes contact with the ground and transmits both force and torque. Longitudinal force, lateral force and aligning torque of a vehicle arise from the interaction between the tire and the ground. Therefore, tire model accuracy is essential for creating an accurate vehicle model. Currently, tire models fall into three categories: theoretical, semi-empirical and empirical models. For this paper, the Dugoff tire model was selected to calculate tire force due to its applicability and meeting the required state estimation. The Dugoff tire model equation is shown as Equations ( 8 )–( 11 ).

where F x is the longitudinal force of the tire, F y is the lateral force of the tire, F z is the vertical force of the tire, C x and C y are the longitudinal slip stiffness and lateral deflection stiffness of the tire, respectively, α is the lateral slip angle of the tire, λ is the actual longitudinal slip rate and V w is the longitudinal velocity at the wheel center.

The slip rate represents the proportion of sliding to rolling in the vehicle’s overall motion. During braking, the rolling component of the wheel decreases while the sliding component increases as the braking intensity increases. The formula for calculating the longitudinal slip rate is presented in Equation ( 12 ).

3. ACC System Control Strategy Development

The ACC system implements a hierarchical control strategy, which consists of three main layers: perception, decision and execution. Figure 3 depicts the logical associations and data transmissions among these layers.

ACC control strategy architecture.

Vehicles equipped with ACC systems, during their driving process, obtain information from the perception layer through vehicle-mounted sensors and state observers. After a determination of the system’s working mode, the vehicle is determined to be in either constant speed cruise mode or follow mode. The PID control method is used for constant speed cruise mode. For follow mode, first the weighting factors applicable to the current scenario are obtained based on preset fuzzy rules and applied to the optimization solution of the objective function. Then, the control quantities obtained from the MPC controller are output and sent to the execution layer, finally achieving the vehicle’s Adaptive Cruise Control function.

3.1. Dynamic Vertical Wheel Load Observer Based on Machine Learning Methods

The dynamic characteristics of vehicles and the mechanical behavior of their tires exhibit strong nonlinearity. The traditional model-based frameworks typically linearize the state equations to compute tire forces, which provide accurate results when the tire is in the linear region, but they are inefficient for nonlinear conditions [ 21 , 22 ]. Consequently, a machine learning-driven method is proposed for estimating vehicle parameters with superior performance in tackling nonlinear problems. The framework shown in Figure 4 consists of three main stages. First, the vehicle travel data is processed and a data model is established. In the second stage, Random Forest (RF) is employed to detect essential features and reduce data dimensions because of the numerous vehicle motion state variables that may lead to high computational loads. Finally, a fully connected neural network (FCNN) is utilized to generate estimates for tire forces.

Logic structure diagram of dynamic vertical wheel load observer.

3.1.1. Data Processing

The output data of vehicle sensors may contain a certain level of noise due to the variation in their sampling frequency and the vibration that occurs during driving. Therefore, it is essential to filter, resample and interpolate the data collected by the vehicle for accurate analysis. One approach to filtering anomalous data points is to use the band-pass filter technique. This method involves combining a high-pass filter and a low-pass filter either in series or parallel, resulting in a filter that permits only signals within a specific frequency range while suppressing signals beyond the cutoff frequency. The transfer function of this filter can be expressed using Equation ( 13 ).

where w 0 is the center frequency of the bandpass, A is the passband gain of the filter and B is the bandwidth ratio of the bandpass.

The discretized difference equation for the bandpass filter is shown in Equation ( 14 ).

where b 0 – b M and a 1 – a N are the system coefficients, x n is the input signal and y n is the output signal.

To ensure the continuity and smoothness of the data, the method of cubic spline interpolation is used to achieve the unification of different signals in the time and frequency domains, as shown in Equation ( 15 ).

where a i , b i , c i , d i are the polynomial coefficients of the i -th interval, which can be obtained by solving a system of linear equations.

The coefficient matrix of the system of linear equations is a tridiagonal matrix that can be solved efficiently via the catch-up method.

3.1.2. RF-Based Feature Selection and Data Dimensionality Reduction

The dataset used for neural network models often involves a considerable number of features, leading to increased complexity and difficulty in optimizing the model. To resolve this issue, the random forest technique can be implemented to remove irrelevant features from the dataset and improve the performance of the model by efficiently selecting critical features as input for the neural network.

During feature selection via the random forest algorithm, the initial dataset is randomized into training and testing sets. The random forest model is subsequently trained on the training set while recording the MDI (Mean Decrease Impurity) score for each feature. During each tree’s training process, a node within the tree randomly selects a subset of samples from its related parent node, forming out-of-bag (OOB) samples. The OOB importance value calculates the accuracy of the model’s prediction performance for each sample. Using the OOB importance scores for individual features, it becomes feasible to select substantial inputs for the neural network. The calculation of the OOB importance score for feature j is expressed in Equation ( 16 ).

where B represents the number of trees in the random forest, i m p j , b represents the MDI value of feature j in the b -th tree, which is the information gain brought by using feature j to split in that tree. The OOB standard deviation value of each feature j can also be calculated to evaluate its stability, as shown in Equation ( 17 ).

Finally, the features are ranked based on their OOB importance values and standard deviation values and the subset of features with high importance and good stability is selected as the final feature subset.

In the RF feature screening in this paper, the results of the decision tree output were obtained using the mean method and the regression characteristics were obtained as shown in Equation ( 18 ).

where v b is the information output by the b -th decision tree; P b is the probability distribution of the output speed information of the b -th decision tree.

3.1.3. FCNN-Based Parameter Estimation

Random forest feature selection provides the dataset for regression analysis of dynamic vertical wheel load parameters using a fully connected neural network (FCNN). The structure of the network, as displayed in Figure 5 , contains input layers, hidden layers and output layers each with defined neuron count and applied activation functions. The specific hyperparameter settings are shown in Section 4.1 .

FCNN architecture.

The dataset is randomly partitioned into two groups consisting of a training set and a validation set. Further, to enhance training stability and rate, the training data require normalization. In this paper, Min-Max Scaling normalization, shown in Equation ( 19 ), is utilized.

where x is the original data, x m i n and x m a x are the minimum and maximum values in the dataset, respectively, and x n o r m is the scaled data. The range of the scaled data is usually [0,1].

The backpropagation algorithm updates the network parameters during training by using the training set data. The network’s regression performance is evaluated by utilizing the testing set after reducing the training error onto convergence. The parameter regression formula based on the fully connected neural network is demonstrated in Equation ( 20 ).

In Equation ( 20 ), x is the input feature vector, y is the regression output value, W 1 and W 2 are the parameter matrices for the first and second hidden layers, respectively. b 1 and b 2 are bias vectors and f is the ReLU activation function. During the training process, the gradient descent algorithm is used to continuously optimize the parameters W 1 , W 2 , b 1 and b 2 to minimize the difference between the predicted value and the actual value.

It should be noted that this method of observing dynamic vertical wheel loads is not only applicable to highway vehicles, but also to industrial vehicles with relatively simple driving scenarios, such as forklifts. Although these vehicles have lower driving speeds, they can still exhibit changes in wheel normal loads. The observed results of dynamic vertical wheel loads can be applied to the stability issues of forklifts, such as warning of vehicle tip-over [ 23 , 24 ].

3.2. ACC Controller Decision Layer Design

The ACC system comprises a decision layer, which serves as the system’s nucleus. This layer facilitates both intelligent perception and response to complicated traffic conditions and dynamic information throughout car driving. The decision layer’s functionality includes selecting vehicle control modes and outputting expected acceleration levels to the execution layer. It derives this based on the kinematic and dynamic information received from the perception layer. Thus, it reduces the driver’s workload while increasing driving safety and comfort.

3.2.1. System Operating Mode Switching Logic

The operation of the Adaptive Cruise Control (ACC) system involves an initial determination of the current mode of the system. If there are no vehicles detected within the radar range or if the speed of the target vehicle ahead is higher than the speed set by the host vehicle, it operates in constant speed cruise mode. However, if there is a target vehicle ahead, it switches to follow mode. A detailed illustration of this procedure is provided in Figure 6 .

System operating mode switching flowchart.

The Anti-Windup PID method is used to control the constant speed cruise mode. This involves using the relative speed difference and host vehicle speed as input variables and the desired longitudinal acceleration as the output variable. A saturation function is then applied to the output to limit extreme acceleration values that might otherwise affect ride stability. The primary goal of this function is to maintain vehicle stability and ensure passenger comfort.

3.2.2. ACC System Follows Mode Control Strategy

The implementation of the MPC method for follow mode control necessitates the provision of the state variables needed by the controller through the perception layer. As a result of the vehicle’s inertia, there exists a time lag between the expected acceleration and the current acceleration. To represent the hysteresis properties exhibited by the two accelerations, a primary order inertial link was introduced which is described in Equation ( 21 ).

where a r e a l is the actual acceleration; j ( k ) is the acceleration change rate; a d e s is the desired acceleration; τ is the first-order inertial link time constant.

In the calculation of the desired relative spacing Δ s ( k ) , Time-To-Collision (in this paper, t h is used to represent TTC) is a crucial parameter [ 25 , 26 , 27 ]. The physical significance of t h is the time interval for possible collision calculated through the kinematic information between the vehicle and the forward obstacle, as shown in Equation ( 22 ). Combined with the current vehicle velocity v h and t h , as well as the preset minimum safe distance Δ s 0 ( Δ s 0 = 5 m), the desired relative spacing Δ s ( k ) can be obtained, as shown in Equation ( 23 ).

where t 0 , c v , c a are constants greater than zero.

Select real-time relative spacing Δ s ( k ) , longitudinal velocity v h ( k ) , relative speed v r e l ( k ) ( v r e l = v t − v h , v t is target vehicle velocity; v h is host vehicle velocity), longitudinal acceleration a h ( k ) and j ( k ) as the state variable. The discrete state space model of the system is established as shown in Equation ( 24 ).

where T s is the system sampling period, a t ( k ) is target vehicle acceleration and u ( k ) is the expected acceleration of the ACC system at moment k .

Select the real-time error between the actual and the desired relative spacing δ ( k ) , v r e l ( k ) , a h ( k ) and j ( k ) as the optimized performance target of the ACC control system. This gives y ( k ) = δ ( k ) , v r e l ( k ) , a h ( k ) , j ( k ) T .

Thus, the expression for y ( k ) can be written in the form of Equation ( 25 ).

The simplified vehicle dynamic characteristics and external interferences can cause errors between the predicted and actual values of the ACC system’s prediction model. These errors can be mitigated through feedback correction, improving the response accuracy and robustness of the system. Equation ( 26 ) demonstrates how the prediction error at a given time can be calculated using the feedback-correction principle.

where e ( k ) is the prediction error; x ( k ) is the actual state of the system at the moment k ; x p ( k / k − 1 ) is the predicted value of moment k − 1 for moment k .

Using a weighted matrix to adjust the prediction error to improve the system prediction accuracy, Equation ( 24 ) is transformed into Equation ( 27 ).

where W = diag w 1 , w 2 , w 3 , w 4 , w 5 , w i ∈ ( 0 , 1 ) .

Due to the safety requirements, vehicle performance and road traffic regulations in the working process of the ACC system, the real-time relative spacing Δ s ( k ) , relative velocity v r e l ( k ) and other variables need to be limited within a reasonable range. The constraints are shown in Table 3 .

ACC System Constraints.

Evaluation indicators for the ACC system include safety, following distance and comfort. Safety refers to maintaining a reasonable distance between front and rear vehicles to prevent collisions. Following distance pertains to matching the speed of the target vehicle and adjusting the actual spacing to the desired level. Comfort involves avoiding rapid acceleration and deceleration during driving. By optimizing control variables and prediction errors while accounting for various performance constraints and evaluation indicators, the ACC system can more effectively track target vehicles. The objective function is displayed in Equation ( 28 ).

where y ^ p ( k + i ∣ k ) is the performance index vector in the prediction time domain; y r ( k + i ) = φ i y ( k ) is the reference trajectory; φ = diag ρ δ , ρ v , ρ a , ρ j , ρ ∈ ( 0 , 1 ) ; Q is the following weight coefficient; R is the comfort weight coefficient; p is the prediction time domain; m is the control time domain; u ( k + i ) is the control variable.

From Equation ( 28 ), it can be seen that the selection of the following weight coefficient Q and the comfort weight coefficient R will directly affect the performance of the objective function. The following ability refers to the ability of a vehicle equipped with an ACC system to converge to the relative distance error and relative velocity error between itself and the target vehicle, while the comfort weight coefficient affects the control variable u , that is, the host vehicle acceleration. By adjusting Q and R , the system control parameter matching for coping with complicated scenarios can be achieved.

The control matrix constraints of the ACC system are organized as Equation ( 29 ).

where i n f stands for infinity, which means there is no upper limit to the relative spacing constraint between the ACC vehicle and the target vehicle.

Based on the above analysis, the multi-objective optimized ACC system control algorithm is turned into an online quadratic optimization problem with constraints as shown in Equation ( 30 ).

3.2.3. Fuzzy Control Design Method for Variable Weight Coefficient Design

The effectiveness of Adaptive Cruise Control (ACC) depends on how well it can navigate the complex traffic environment encountered by a vehicle. To ensure control robustness and scenario adaptability in varying driving scenarios, variable system control parameters for ACC are required. This paper proposes the use of a weight factor for the comprehensive performance index function that is updated in real time based on the vehicle’s driving state. The weight factor comprises two components, Q and R , which correspond to the following performance index and comfort performance index, respectively. The comfort performance index weight factor was fixed as R = 1 . However, the online weighting coefficient parameter identification and optimization were performed by adjusting Q . The error between the actual and the desired relative spacing δ ( k ) and relative velocity v r e l ( k ) were used as input variables, whereas Q was utilized as the output variable for fuzzy controller design. Fuzzy linguistic variables were employed to establish the weight factor Q of the followability index, as shown in Equation ( 31 ).

where NB, NS, ZO, PS, PM, PB represent negative big, negative small, zero, positive small, positive medium and positive big, respectively.

In the fuzzy process, the fuzzification range of the real-time error between the actual and the desired relative spacing δ ( k ) is set as [ − 30 , 30 ] m and the fuzzification range of relative velocity v r e l ( k ) is set as [ − 20 , 20 ] m/s. When Q > 1 , it means that the current driving condition requires a higher following index than the comfort index. Both input variables are designed by using the affiliation function of a triangle. The image of the function is shown in Figure 7 .

Membership function of each variable. ( a ) Error between the actual and the desired relative distance δ ( k ) ; ( b ) Relative velocity v r e l ( k ) .

The change range of Q is set to [ 0 , 5 ] and through analysis it is considered that if the value of Q is at [ 0 , 1 ] , the driving state at that moment is judged to be based on the optimization goal of drive comfort, and if the value is at [ 1 , 5 ] , the driving state at that moment is judged to be based on the optimization goal of vehicle following, so this paper is set in this part to be able to quickly respond to the desired optimization value of the Gaussian-type affiliation function and its affiliation. The function image is shown in Figure 8 .

Output variable affiliation function.

The fuzzy rules designed in this paper are shown in Table 4 .

Fuzzy control rules table.

Since the output of the fuzzy controller cannot be directly applied to the actual control, the area-centered method is used to solve the fuzzification calculation to obtain the final value of the followability weighting factor Q and act on the system. The output variable is also plotted about the input variable function surface as shown in Figure 9 .

Graph of input and output variables.

3.3. ACC System Execution Layer Control Method

The execution layer must determine whether the vehicle requires acceleration or deceleration based on the desired acceleration received from the decision layer. It must then convert this desired acceleration into the appropriate actuator commands to achieve the corresponding action. This involves controlling the actuator to apply the required driving torque or braking pressure.

3.3.1. Drive–Brake Switching Logic

In the context of ACC for commercial vehicles, switching between driving and braking states is essential to match the desired acceleration changes. Frequent switching may lead to acceleration oscillation that can affect the actuator, whereas untimely switching can impact the control efficacy of the system. In this research, a rule-based driving–braking switching strategy was implemented. Specifically, the deceleration achieved by the vehicle in a gear-sliding state serves as the threshold value for the driving–braking switching. To simulate the gearbox sliding of the target vehicle, the TruckSim software was used. During the simulation, the throttle opening and braking pressure were set to zero, while the vehicle’s initial speed was set to 120 km/h. The deceleration corresponding to each speed from 0 to 120 km/h was measured and the simulation results were smoothed to derive the driving–braking state switching logic, which is illustrated in Table 5 .

Driving–braking switching logic.

3.3.2. Braking Torque Distribution Based on Dynamic Vertical Wheel Load Observation Results

The distribution of vehicle braking force according to the dynamic load of each wheel can make full use of the road friction conditions, thus solving the disadvantage of conservative braking force distribution and ineffective use of road friction that exists in the rule-based braking force-distribution strategy.

When the deceleration demand signal from the ACC system or the brake pedal opening signal from the driver is detected, the braking force-distribution function starts to work. The first step is to calculate the sum of the spring mass of the vehicle, as shown in Equation ( 32 ).

The second step is to calculate the braking torque of vehicle demand, as shown in Equation ( 33 ).

where r is the rolling radius of the wheel.

Finally, the wheel braking force distribution coefficient is calculated, as shown in Equation ( 34 ).

Therefore, the braking torque of each wheel can be expressed in the form of Equation ( 35 ).

3.3.3. Execution Layer PID Control Method

After obtaining the acceleration requirements and braking torque requirements from the decision-making level, the integral-separated PID method is used to control the actuator. The control quantity of the output of the integral-separated PID control can be expressed by Equation ( 36 ).

where β is the switching coefficient of the integral link, β = 1 | e ( k ) | ≤ ε 0 | e ( k ) | > ε .

After setting the deviation threshold ϵ , the deviation between the actual torque and the expected torque is judged; if | e | > ϵ , PD control is adopted to cancel the integral link to avoid excessive overshoot and oscillation due to integral accumulation and if | e | > ϵ , PID control is adopted; integral control is introduced to eliminate steady-state error and improve system control accuracy.

In order to improve the control effect of the ACC system in actual driving scenarios, it is necessary to consider the influence of road surface adhesion changes on the performance of the braking system when designing the control method at the execution layer [ 28 , 29 ]. Therefore, a rule-based anti-lock braking system (ABS) control method based on the execution layer is proposed. In ABS control, the wheel motion state is a combination of rolling motion and sliding motion [ 30 , 31 ]. The rule-based ABS control method uses the wheel slip rate as a reference value and applies corresponding pressure-increase, pressure-holding or pressure-reduction commands to the braking system based on the logical operation result of the actual and preset threshold values of the slip rate. This reduces the proportion of sliding motion in the wheel motion and ensures directional stability and safety during vehicle braking.

The proposed rule-based ABS control logic is shown in Figure 10 . After obtaining the vehicle speed and wheel speed signals, the slip rate is calculated according to Equation ( 12 ). When braking begins, the ABS function will be triggered when the slip rate is greater than 0.4 and the longitudinal vehicle speed is greater than 6 km/h. The ABS controller sends a pressure reduction signal to the brake actuator. When the slip rate is less than 0.1 and the vehicle speed is greater than 6 km/h, the ABS controller issues a pressure-increase control command. If the slip rate is between 0.1 and 0.4, the braking system pressure remains unchanged from the previous moment. ABS control is exited when the vehicle speed is less than 6 km/h.

Flow chart of rule-based ABS control method.

4. Simulation and Analysis

To verify the effectiveness of the proposed control method, a simulation platform was established utilizing Matlab Simulink and TruckSim. The control strategy design for estimating dynamic vertical wheel load was conducted using Matlab Simulink, which acted as the controller, while the TruckSim vehicle model functioned as the controlled object. Additionally, TruckSim was utilized to generate appropriate driving scenarios essential for the functionality of the ACC system. A diagrammatical representation of the co-simulation platform is illustrated in Figure 11 . Notably, all of the simulation and model training operations mentioned in this study were performed on a computer equipped with an Intel i7-12700H processor and 16 GB RAM.

Control strategy simulation platform architecture.

4.1. Dynamic Vertical Wheel Load Observation and Braking Torque Distribution Results

The dataset used in this paper is derived from the results of real vehicle tests conducted with a cooperative enterprise. Stress–strain sensor strips were installed on the suspension of the test vehicle to measure the dynamic vertical load of the wheels, as shown in Figure 12 . The electronic stability control (ESC) system of the test vehicle was equipped with a three-axis accelerometer ADXL313, which can measure the acceleration in the X-Y-Z directions of the vehicle. Signals such as engine speed and torque, vehicle speed and wheel speed were all acquired from the vehicle control unit (VCU) through a CANoe device.

Wheel dynamic vertical load sensor installation diagram.

This paper collected data for 20 dynamic parameters that change with time during vehicle operation. The parameter list is shown in Table 6 .

Original data classification.

After filtering and interpolating the data, a random forest algorithm with 500 decision trees and 3 feature nodes was used for feature selection. Eight data items with high weights were eventually selected for dynamic observation of vehicle wheel vertical load. The selected data items are shown in Table 7 .

Selected data items.

The total size of the dataset is 11,800 groups. The selected data groups were divided into training set, validation set and test set in a ratio of 7:2:1. The normalized data were trained using FCNN network. The specific parameters and training process of the model are shown in Table 8 .

Detailed Parameter Setting.

To verify the observation accuracy of the vehicle wheel load observer, in the test set, the selected eight types of data were used as inputs to FCNN and the output results were compared and analyzed with the results of the actual vehicle test. Figure 13 and Table 9 show the observed results and estimation accuracy of the dynamic vertical wheel load.

Dynamic vertical wheel load observation results. (Taking the left front wheel of the vehicle as an example.) ( a ) Observations of actual vehicle driving data over a period of time; ( b ) Single braking condition; ( c ) Single brake condition observation result.

Accuracy analysis of observation results.

To evaluate the accuracy of the machine learning-based wheel dynamic load observer proposed in this article, a comparative analysis was conducted on the motion parameters of vehicles over a specified period. Figure 13 illustrates the dynamic vertical wheel load observation results. Additionally, Table 9 summarizes the findings obtained from this comparison analysis.

In RMSE and MAE, n denotes the sample size, y i denotes the actual observed value and y ^ i denotes the model predicted value. Smaller values of RMSE and MAE indicate that the predicted value is closer to the true value. The coefficient of determination ( R 2 ) is used to assess the degree of fit of the regression model and a value closer to 1 indicates a better fit. SSR denotes the sum of squared regressions, SSE denotes the sum of squared errors and SST denotes the sum of total squares.

In accordance with the identification results of the dynamic normal wheel load observer, the brake torque of the ACC system is allocated. To verify the control effect of the proposed brake torque allocation method, the results of the brake torque allocation method proposed in this paper are compared with the traditional one based on the fixed proportion of front and rear axles in a single brake scenario ( β d = F B f F B r = 0.55 : 0.45 , F B f , F B r are the maximum braking force of the vehicle front and rear axle brakes, respectively). The comparison of vehicle deceleration and braking distance under the two methods is shown in Figure 14 . It should be noted that, to highlight the performance differences between different brake torque allocation methods more significantly, open-loop control is adopted for deceleration in the comparison process. The simulation scenario is set as follows: the initial speed of the vehicle is 80 km/h and the braking begins at 4 s; the required deceleration is 3.5 m/s 2 and the vehicle is released from braking at 8 s.

Validation results of brake force distribution strategy. ( a ) Comparison of braking torque distribution; ( b ) Comparison of braking deceleration and braking distance results.

From Figure 14 , it can be seen that the braking force allocation method based on the machine learning dynamic wheel vertical load observer proposed in this paper can effectively improve the vehicle’s braking capability. Compared with the constant proportional braking force allocation method, allocating the braking force based on the vehicle’s dynamic vertical wheel load distribution in open-loop braking scenarios can increase the average deceleration of the vehicle by 18% and shorten the braking distance by 4 m. This significantly improves the utilization rate of road adhesion during the braking process.

4.2. ABS Control Simulation Results

To validate the effectiveness of the proposed rule-based ABS control strategy, a simulation verification of the control strategy was carried out on typical road surfaces. The simulation verification scenario was set up as shown in Table 10 .

ABS simulation conditions.

4.2.1. Low Adhesion Road Simulation Result

The vehicle was subjected to a braking test with an initial speed of 50 km/h on the aforementioned road surface at μ = 0.4 , and simulation results are shown in Figure 15 . The trends of wheel speed changes under ABS control were found to be consistent with those of vehicle speed changes. No locking of wheels was observed during the entire braking process and ABS disengaged control when the vehicle speed decreased below 6 km/h. The average slip rate of all four wheels was calculated to be 11.23% during the braking process, indicating the effectiveness of the proposed strategy under low-adhesion road conditions.

Simulation results of ABS strategy under low adhesion conditions. ( a ) Vehicle speed and wheel speed curves; ( b ) Wheel slip rate curves.

4.2.2. Split Road Simulation Result

The vehicle was subjected to a braking test with an initial speed of 50 km/h on the aforementioned split μ road surface, with a low adhesion coefficient of μ = 0.4 on the left side and a high adhesion coefficient of μ = 0.8 on the right side. The simulation results are shown in Figure 16 . During the braking process, the average slip rate of the left wheels was found to be 17.43%, with a maximum value of 43.34%, slightly higher than the predetermined threshold value. On the other hand, the average slip rate of the right wheels was 6.14%. No locking of wheels was observed during the entire braking process, demonstrating that the proposed strategy still has a good control effect under the split road conditions.

Simulation results of ABS strategy under split road conditions. ( a ) Vehicle speed and wheel speed curves; ( b ) Wheel slip rate curves.

4.2.3. Bisectional Road Simulation Result

In this section, the road simulation conditions were set to have a road surface adhesion coefficient of μ = 0.8 from 0 to 25 m and a road surface adhesion coefficient of μ = 0.4 after 25 m. The vehicle was subjected to a braking test with an initial speed of 80 km/h and simulation results are shown in Figure 17 . When the vehicle reached the boundary between the two road surfaces, there was a significant increase in the slip rate of the front wheels, but it returned to around 20% within 0.3 s. No locking of wheels was observed during the entire braking process, demonstrating that the proposed strategy can still have a certain control effect under harsh bisectional road conditions.

Simulation results of ABS strategy under bisectional road conditions. ( a ) Vehicle speed and wheel speed curves; ( b ) Wheel slip rate curves.

4.3. ACC System Typical Scenario Simulation Result

During vehicle operation, three common scenarios are following a target vehicle, target vehicle insertion and target vehicle braking. These scenarios are utilized to verify the functionality of Adaptive Cruise Control (ACC) systems. The target vehicle scenario is prevalent in high-speed road sections and suburban areas with fewer traffic lights. In this scenario, the ACC system must regulate the vehicle’s speed to smoothly track the target vehicle ahead. The target vehicle insertion scenario requires the ACC system to adjust the vehicle’s longitudinal speed using control strategies to prevent a collision. In the target vehicle braking scenario, the ACC system must promptly brake to avoid collisions. All of these simulation test scenarios compare the Fuzzy Model Predictive Control (MPC) method proposed in this paper with the conventional MPC method that uses fixed weight factors.

4.3.1. Following Target Vehicle

The initial conditions of the simulation of the following target vehicle scenario are set to the target vehicle driving with variable speed according to the sinusoidal wave-form, the initial velocity of the ACC vehicle is 75 km/h, the initial relative distance is 55 m and the initial velocity of the target vehicle is 60 km/h. The simulation results under this scenario are shown in Figure 18 .

Simulation results of following target vehicle scenario. ( a ) Vehicle velocity simulation results; ( b ) Relative distance simulation results; ( c ) Curves of weight coefficient Q versus time and velocity and relative distance.

In the initial stage of the simulation, the actual relative distance is greater than the desired relative distance, but since the velocity of the host vehicle is higher than the target vehicle, it needs to take braking to adjust the velocity of the host vehicle. Therefore, in the first 2 s at the beginning of the simulation, the ACC system focuses more on the followability index, which is reflected in Figure 18 c. After this stage, the weight factor Q is stabilized to 1 because the vehicle velocity error and the vehicle distance error gradually converge. According to Figure 18 a,b and Table 11 , it can be seen that the Fuzzy MPC method has a significant improvement in the control accuracy compared with the normal MPC method.

Comparison of the control accuracy of different methods of following target vehicle scenario.

4.3.2. Target Vehicle Insertion

In the simulation of the target vehicle insertion scenario, the initial conditions of the simulation are set as follows: the initial speed of the ACC vehicle is 60 km/h, the original target vehicle is traveling at 70 km/h in front and the initial distance between the two vehicles is 30 m. At 20 s, the vehicle maintains a constant speed of 60 km/h in the next lane, suddenly cuts in and becomes the new target vehicle, at which time the distance between the host vehicle and the target vehicle is 25 m. The simulation results under this condition are shown in Figure 19 .

Simulation results of target vehicle insertion scenario. ( a ) Vehicle velocity simulation results; ( b ) Relative distance simulation results; ( c ) Curves of weight coefficient Q versus time and velocity and relative distance.

In the first 20 s after the simulation starts, both the Fuzzy MPC algorithm and the normal MPC algorithm can follow the vehicle in front well. At the 20 s mark, the actual relative distance is less than the desired relative distance and the speed of the host vehicle is higher than the target vehicle due to the cut-in of the front vehicle, which creates a risk of collision between the two vehicles. From Figure 19 c, it can be seen that the ACC system can accurately determine the priority of following over comfort in this scenario. It can be seen from Figure 19 a,b and Table 12 that the Fuzzy MPC method allows the velocity and relative distance to converge to the desired values more quickly. The time required for the velocity and distance to reach the desired values mentioned in Table 12 refers to the time elapsed after the front vehicle intervenes and starts calculating until the velocity and distance converge again.

Comparison of the control accuracy of different methods of target vehicle insertion scenario.

4.3.3. Target Vehicle Braking

In the simulation of this scenario, the initial conditions of simulation for the ACC vehicle and the target vehicle are set as follows: the initial speed of the ACC vehicle is 65 km/h. The target vehicle travels at a constant speed of 50 km/h and brakes suddenly at the 17th second with an acceleration of 3 s and then maintains a constant speed. The simulation results under this condition are shown in Figure 20 .

Simulation results of target vehicle braking scenario. ( a ) Vehicle velocity simulation results; ( b ) Relative distance simulation results; ( c ) Curves of weight coefficient Q versus time and velocity and relative distance.

In the beginning, the speed of the host vehicle followed the target vehicle and in the 7th second, the speed of the two vehicles converged and the distance between the two vehicles also converged to the expected value. At 17 s, the target vehicle braked suddenly and the ACC system braked and effectively avoided a rear-end collision, ensuring the safety of the vehicle. From Figure 20 a,b, it can be seen that the minimum relative distance of the Fuzzy MPC control method is greater than that of the normal MPC, which guarantees a relative distance greater than D e l t a s 0 . From Table 13 , it can be seen that the following accuracy and convergence speed of the FMPC method are significantly better than those of the conventional control method. Figure 20 c shows that the ACC system has higher requirements for safety when the target vehicle brakes, which follows the design expectation of the controller.

Comparison of the control accuracy of different methods of target vehicle braking scenario.

5. Conclusions

This paper proposes a control strategy for the ACC system of commercial vehicles in actual driving scenarios based on machine learning state observers and Fuzzy MPC, aiming to improve its performance. It consists of a vehicle dynamic normal wheel load observer, a Fuzzy Model Predictive Controller and an integral-separate PID executive layer controller. The design based on the machine learning state observer estimates the dynamic normal wheel load parameters during vehicle travel and applies them to the longitudinal dynamic control of the ACC vehicle, determining the prerequisite for brake force allocation based on the estimation results. This allocation method can increase the braking deceleration by 18% under fixed brake pedal opening. The Fuzzy Model Predictive Controller dynamically adjusts control parameters through fuzzy processing of performance index weight factors to ensure system safety. To verify the proposed strategy, a joint simulation platform was established in the TruckSim-Simulink environment and the system performance was simulated and tested in typical scenarios. The results show that the proposed method improves speed-tracking accuracy (RMSE value) by 41.38% and distance-tracking accuracy by 41.31% in the following target vehicle scenario. In the target vehicle insertion scenario, while improving tracking accuracy, the convergence speed of speed and distance tracking is also increased. It can be proved that compared with previous MPC Adaptive Cruise Control strategies, the ACC system control strategy based on machine learning state observer and Fuzzy MPC can respond to changes in vehicle driving scenarios more quickly and stably. The proposed execution layer control method was verified under simulation conditions on a low-adhesion road, a bisectional road and a split road; the results showed that it can handle changing road conditions well and further improve the safety performance of the ACC system.

Future work will focus on two aspects. First, further research will focus on the robustness of the strategy to parameter uncertainties and external disturbances, especially the applicability of the strategy to different vehicle models and its robustness under more detailed driving scenarios (such as vehicle passing over speed bumps). Second, the proposed control strategy will be validated in real-world vehicle tests.

Funding Statement

This research was funded by the Changsha Automotive Innovation Research Institute Innovation Project—Research on Intelligent Trip Planning System of Pure Electric Vehicles Based on Big Data (CAIRIZT20220105), the Science and Technology Planning Project in Yibin City (2020GY001), and the Science and Technology Planning Project in Tianjin city (20YFZCGX00770).

Author Contributions

Conceptualization, J.G. and Y.W.; methodology, software, Y.W. and Z.H.; validation, C.B.; formal analysis, investigation, resources, data curation, writing—original draft preparation, Y.W.; supervision, writing—review and editing, D.Z.; visualization, L.C. All authors have read and agreed to the published version of the manuscript.

Institutional Review Board Statement

Informed consent statement, data availability statement, conflicts of interest.

The authors declare no conflict of interests.

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About adaptive cruise control, what you need to know about adaptive cruise control.

Adaptive Cruise Control uses a forward-looking camera or a forward-looking camera and radar technology (depending on your vehicle) to monitor vehicles you’re following. This feature helps you follow a vehicle ahead at the following gap you select (Far, Medium, or Near) while you steer. This helps reduce the need for you to frequently brake and accelerate.

If the system doesn’t detect a vehicle ahead, Adaptive Cruise Control works just like cruise control and maintains your selected cruise speed. When the system detects a vehicle ahead of you in your lane, it will automatically slow down or speed up your vehicle to maintain your selected following gap.

Just like cruise control, Adaptive Cruise Control uses the cruise control ON/OFF, CANCEL, SET and RESUME buttons on the steering wheel.

For more on how to use Adaptive Cruise Control, see the How-To article . This article will tell you about the different applications of the feature and some things to know before using it.

Adaptive Cruise Control Override

If you press the accelerator pedal while the system is in use, automatic braking won’t occur. You’ll get a message in the cluster display, or the green ADAPTIVE CRUISE CONTROL icon will turn blue, indicating that Adaptive Cruise Control automatic braking is temporarily disabled until you release the accelerator pedal.

Adaptive Cruise Control Can Follow a Vehicle to a Stop

On most vehicles, Adaptive Cruise Control can follow a vehicle ahead to a stop. When the vehicle ahead starts moving again, you should check that it’s safe to proceed and then either press the accelerator pedal or RESUME button to continue driving. For very brief stops, Adaptive Cruise Control will automatically resume and follow the vehicle ahead.

Adaptive Cruise Control has limited braking capability, so if the vehicle you’re following stops too suddenly, you’ll get an alert to take action by quickly applying the brakes yourself.

If your vehicle has the Driver Attention System (DAS) on the steering column, Adaptive Cruise Control may automatically resume and follow the vehicle ahead for longer stops if the system detects that you're paying attention to the road.

Check your Owner’s Manual to learn more about how Adaptive Cruise Control works on your vehicle at low speeds.

Trailering with Adaptive Cruise Control

If equipped, Adaptive Cruise Control may be used when towing an attached trailer that is electrically connected and within GM-approved allowable size and weight limits.

When you turn on Adaptive Cruise Control while trailering and change the gap settings, an icon will appear in your Driver Information Center (DIC) next to your gap setting display that indicates you have trailering functionality for Adaptive Cruise Control equipped.

When towing a trailer, Adaptive Cruise Control driving characteristics, such as following gap, acceleration rates and braking rates, may be modified to provide a better towing experience.

When towing a trailer with Adaptive Cruise Control, it is important to properly set the Trailer Gain. Check your Owner’s Manual for more information on setting Trailer Gain.

It is recommended you select Tow/Haul mode when driving down steep hills or mountain grades, or when hauling heavy loads.

If you turn on Adaptive Cruise Control and do not see the trailering icon in the DIC when you try to change your gap settings, your vehicle is not properly equipped to use Adaptive Cruise Control while trailering. You should not use Adaptive Cruise Control while trailering if this is the case.

Adaptive Cruise Control should not be used while towing a trailer with an aftermarket trailer brake controller. Aftermarket trailer brake controllers may not function properly with the Adaptive Cruise Control system.

You should read your Owner’s Manual to learn more about the limitations of the system.

Safety Consideration When Using Adaptive Cruise Control

• The system can only brake so much. Your complete attention is always required while driving.
• Adaptive Cruise Control does not steer your vehicle. You must always be in control of vehicle steering.
• The system may not react to parked, stopped or slow-moving vehicles. You should always be ready to take action and apply the brakes.
• Don’t use the system on winding or hilly roads, on freeway exit or entrance ramps, or when trailering (if your vehicle isn’t equipped with Adaptive Cruise Control with trailering). In these driving conditions, the system may not detect the vehicle ahead.
• The system can’t detect traffic lights or traffic signs, so you still need to brake when necessary at intersections and lights.
• Avoid using Adaptive Cruise Control when the rear of the vehicle or truck bed is heavily loaded. See your Vehicle Load Limits and Owner’s Manual for more information.

Safety or driver assistance features are no substitute for the driver’s responsibility to operate the vehicle in a safe manner. The driver should remain attentive to traffic, surroundings and road conditions at all times. Visibility, weather and road conditions may affect feature performance. Read the vehicle’s Owner’s Manual for more important feature limitations and information.

For your security, please don’t include personal info such as phone number, address or credit card details.

Related Links and Resources

How to use adaptive cruise control, troubleshooting adaptive cruise control, can my vehicle switch between adaptive cruise control and cruise control.

On some vehicles, you can switch between cruise control modes by pressing and holding the CANCEL button. Check your Owner's Manual for more information.

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The Good, Bad, and Ugly of Nissan’s Adaptive Cruise Control

Adaptive Cruise Control is a modern take on the classic cruise control. In the past, this feature kept your vehicle traveling at a set speed but didn’t use cameras or sensors. The modern, adaptive version uses these items to maintain a safe distance from the vehicle in front of you. Many Nissan vehicles include Adaptive Cruise Control, but does it function how you want?

Take it from a Nissan owner

I drive a 2023 Nissan Murano SV Midnight Edition, equipped with Adaptive Cruise Control. This SUV was one of J.D. Power’s top-rated SUVs in its class and provides an excellent ride. Much like many Nissan vehicles, this Murano has a host of advanced safety features to help keep me in my lane and a safe distance from other vehicles. The Nissan Safety Shield 360 tech package includes:

• Forward collision warning
• Automatic emergency braking with pedestrian detection
• Lane-departure warning with correction assist
• Blind-spot monitor
• Rear cross-traffic detection with braking
• Rearview camera and monitor
• Automatic high-beam headlights
• Driver drowsiness warning
• Rear seat reminder
• Front parking sensors
• LED fog lights

These safety features make it easy to feel confident driving the Murano, but the Adaptive Cruise Control System has some pros and cons.

Nissan’s Adaptive Cruise Control does an excellent job of keeping the vehicle a safe distance from other vehicles in your lane. The driver can set the prescribed distance using three available settings. This allows you to set it and forget it unless the car in front of you stops. The dashboard shows the driver when the vehicle in the lane is being detected, which means that the vehicle is on the edge of the set distance. It’s easy to cruise along on the highway and never think too much about your speed.

This system doesn’t have stop-and-go technology in the 2023 Murano , but that’s not much of an issue. When a vehicle in your lane slows to a stop, you’ve got to use the brakes and then resume the Adaptive Cruise Control system to continue the drive once that vehicle has moved along again. This makes it difficult to set this feature and use it in city traffic.

While driving the Nissan Murano with the cruise set, the vehicle can suddenly slow when unnecessary. What causes this to happen? If a vehicle in front of you moves into a turning lane and slows down, the system continues to detect that vehicle as being in front of you even when it’s not. My Nissan Murano has often slowed when no cars were in my lane in front of me simply because the car that was in front moved into a turn lane. This is extremely annoying and unsafe.

The verdict

Adaptive Cruise Control is an impressive feature that makes driving more comfortable and easier most of the time. Unfortunately, Nissan’s system doesn’t have stop-and-go functionality, and it is jarring when it suddenly slows down because a vehicle in front moves into a turn lane. Hopefully, future Nissan vehicles will have a much smoother and complete Adaptive Cruise Control system.

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Nathaniel Ehinger

Nathaniel joined MotorBiscuit in 2022 with eight years of experience as an autos writer under his belt. From model reviews to industry politics to new innovations and development, he covers a wide range of topics. Through careful research, attention to detail, and a desire to tell a story, Nathaniel found an unexpected enthusiasm for covering anything related to cars, trucks, SUVs, and everything in between.

AMD Extends Leadership Adaptive SoC Portfolio with New Versal Series Gen 2 Devices Delivering End-to-End Acceleration for AI-Driven Embedded Systems

— First devices in AMD Versal Series Gen 2 portfolio target up to 3x higher TOPs-per-watt with next-gen AI Engines and up to 10x more CPU-based scalar compute than first generation —

— Subaru among first customers to announce plans to deploy AMD Versal AI Edge Series Gen 2 to power next-gen ‘EyeSight’ ADAS vision system —

NUREMBERG, Germany, April 09, 2024 (GLOBE NEWSWIRE) -- AMD  (NASDAQ: AMD) today announced the expansion of the AMD Versal™ adaptive system on chip (SoC) portfolio with the new Versal AI Edge Series Gen 2 and Versal Prime Series Gen 2 adaptive SoCs, which bring preprocessing, AI inference, and postprocessing together in a single device for end-to-end acceleration of AI-driven embedded systems.

These initial devices in the Versal Series Gen 2 portfolio build on the first generation with powerful new AI Engines expected to deliver up to 3x higher TOPs-per-watt than first generation Versal AI Edge Series devices i , while new high-performance integrated Arm ® CPUs are expected to offer up to 10x more scalar compute than first gen Versal AI Edge and Prime series devices ii .

“The demand for AI-enabled embedded applications is exploding and driving the need for single-chip solutions for the most efficient end-to-end acceleration within the power and area constraints of embedded systems,” said Salil Raje, senior vice president and general manager, Adaptive and Embedded Computing Group, AMD. “Backed by over 40 years of adaptive computing leadership, these latest generation Versal devices bring together multiple compute engines on a single architecture offering high compute efficiency and performance with scalability from the low-end to high-end.”

Balancing performance, power, area, together with advanced functional safety and security, Versal Series Gen 2 devices deliver new capabilities and features that enable the design of high-performance, edge-optimized products for the automotive, aerospace and defense, industrial, vision, healthcare, broadcast and pro AV markets.

Powering Subaru’s Next-Gen ADAS Vision System Subaru Corporation has selected Versal AI Edge Series Gen 2 devices for the company’s next-generation advanced driver-assistance system (ADAS) vision system, known as EyeSight. The EyeSight system is integrated into select Subaru car models to enable advanced safety features, including adaptive cruise control, lane-keep assist, and pre-collision braking. Subaru is using AMD adaptive SoC technology in current EyeSight-equipped vehicles.

“Subaru has selected Versal AI Edge Series Gen 2 to deliver the next generation of automotive AI performance and safety for future EyeSight-equipped vehicles,” said Satoshi Katahira, General Manager, Advanced Integration System Department & ADAS Development Department, Engineering Division, Subaru Corporation. “Versal AI Edge Gen 2 devices are designed to provide the AI inference performance, ultra-low latency, and functional safety capabilities required to put cutting-edge AI-based safety features in the hands of drivers.”

Versal AI Edge Series Gen 2 To meet the complex processing needs of real-world systems, AMD Versal AI Edge Series Gen 2 devices incorporate an optimal mix of processors for all three phases of AI-driven embedded system acceleration:

• Preprocessing: FPGA programmable logic for real-time preprocessing with unparalleled flexibility to connect to a wide range of sensors and implement high-throughput, low-latency data-processing pipelines
• AI Inference: An array of vector processors in the form of next-gen AI Engines for efficient AI inference
• Postprocessing: Arm CPU cores providing the postprocessing power needed for complex decision-making and control for safety-critical applications.

This single-chip intelligence can eliminate the need to build multi-chip processing solutions, resulting in smaller, more efficient embedded AI systems with the potential for shorter time-to-market.

Versal Prime Series Gen 2 The AMD Versal Prime Series Gen 2 provides end-to-end acceleration for traditional, non-AI-based embedded systems by combining programmable logic for sensor processing with high-performance embedded Arm CPUs. Designed to offer up to 10x more scalar compute compared to the first generation, these devices can efficiently handle sensor processing and complex scalar workloads.

With new hard IP for high-throughput video processing, including up to 8K multi-channel workflows, Versal Prime Gen 2 devices are ideally suited for applications such as ultra-high-definition (UHD) video streaming and recording, industrial PCs, and flight computers.

Broad and Scalable Portfolio The Versal AI Edge Series Gen 2 and Versal Prime Series Gen 2 portfolios provide scalability from edge sensors to centralized compute for AI-driven systems. They feature a range of devices with increasing amounts of AI and adaptive compute to allow customers to select the performance, power, and area footprints to efficiently achieve application performance and safety targets.

Streamlined Design Cycles The AMD Vivado™ Design Suite tools and libraries help boost productivity and streamline design cycles for embedded hardware system developers, offering fast compile times and enhanced quality of results. For embedded software developers, the AMD Vitis™ Unified Software Platform enables embedded software, signal processing, and AI design development at users’ preferred levels of abstraction, with no FPGA experience needed.

Designers can get started with AMD Versal AI Edge Series Gen 2 and Versal Prime Series Gen 2 early access documentation and first-generation Versal evaluation kits and design tools available today. AMD expects availability of Versal Series Gen 2 silicon samples in the first half of 2025, followed by evaluation kits and System-on-Modules samples in mid-2025, and production silicon expected in late 2025.

Supporting Resources

• Learn more about the AMD Versal Series Gen 2 adaptive SoCs
• Check out the AMD blog on enabling single-chip intelligence
• Follow AMD on LinkedIn
• Follow AMD on  Twitter

About AMD For more than 50 years AMD has driven innovation in high-performance computing, graphics, and visualization technologies. Billions of people, leading Fortune 500 businesses, and cutting-edge scientific research institutions around the world rely on AMD technology daily to improve how they live, work, and play. AMD employees are focused on building leadership high-performance and adaptive products that push the boundaries of what is possible. For more information about how AMD is enabling today and inspiring tomorrow, visit the AMD (NASDAQ: AMD)  website ,  blog ,  LinkedIn , and  Twitter  pages.

©2024 Advanced Micro Devices, Inc. All rights reserved. AMD, the AMD Arrow logo, Versal, Vitis, Vivado, and combinations thereof are trademarks of Advanced Micro Devices, Inc. Arm is a registered trademark of Arm Limited (or its subsidiaries or affiliates) in the US and/or elsewhere. Other names used herein are for informational purposes only and may be trademarks of their respective owners.

CAUTIONARY STATEMENT

This press release contains forward-looking statements concerning Advanced Micro Devices, Inc. (AMD) such as the features, functionality, performance, availability, timing and expected benefits of AMD products including AMD Versal™ AI Edge Series Gen 2 adaptive system on chip (SoC); AMD Versal™ Prime Series Gen 2 adaptive SoC; Versal AI Edge Series Gen 2 Powering Subaru’s next-gen ‘EyeSight’ ADAS vision system, which are made pursuant to the Safe Harbor provisions of the Private Securities Litigation Reform Act of 1995. Forward-looking statements are commonly identified by words such as "would," "may," "expects," "believes," "plans," "intends," "projects" and other terms with similar meaning. Investors are cautioned that the forward-looking statements in this press release are based on current beliefs, assumptions and expectations, speak only as of the date of this press release and involve risks and uncertainties that could cause actual results to differ materially from current expectations. Such statements are subject to certain known and unknown risks and uncertainties, many of which are difficult to predict and generally beyond AMD's control, that could cause actual results and other future events to differ materially from those expressed in, or implied or projected by, the forward-looking information and statements. Material factors that could cause actual results to differ materially from current expectations include, without limitation, the following: Intel Corporation’s dominance of the microprocessor market and its aggressive business practices; economic  and market uncertainty; cyclical nature of the semiconductor industry; market conditions of the industries in which AMD products are sold; loss of a significant customer; public health crises, such as pandemics and epidemics; competitive markets in which AMD’s products are sold; quarterly and seasonal sales patterns; AMD's ability to adequately protect its technology or other intellectual property; unfavorable currency exchange rate fluctuations; ability of third party manufacturers to manufacture AMD's products on a timely basis in sufficient quantities and using competitive technologies; availability of essential equipment, materials, substrates or manufacturing processes; ability to achieve expected manufacturing yields for AMD’s products; AMD's ability to introduce products on a timely basis with expected features and performance levels; AMD's ability to generate revenue from its semi-custom SoC products; potential security vulnerabilities; potential security incidents including IT outages, data loss, data breaches and cyberattacks; potential difficulties in operating AMD’s newly upgraded enterprise resource planning system; uncertainties involving the ordering and shipment of AMD’s products; AMD’s reliance on third-party intellectual property to design and introduce new products in a timely manner; AMD's reliance on third-party companies for design, manufacture and supply of motherboards, software, memory and other computer platform components; AMD's reliance on Microsoft and other software vendors' support to design and develop software to run on AMD’s products; AMD’s reliance on third-party distributors and add-in-board partners; impact of modification or interruption of AMD’s internal business processes and information systems; compatibility of AMD’s products with some or all industry-standard software and hardware; costs related to defective products; efficiency of AMD's supply chain; AMD's ability to rely on third party supply-chain logistics functions; AMD’s ability to effectively control sales of its products on the gray market; long-term impact of climate change on AMD’s business; impact of government actions and regulations such as export regulations, tariffs and trade protection measures; AMD’s ability to realize its deferred tax assets; potential tax liabilities; current and future claims and litigation; impact of environmental laws, conflict minerals-related provisions and other laws or regulations; evolving  expectations from governments, investors, customers and other stakeholders regarding corporate responsibility matters; issues related to the responsible use of AI; impact of acquisitions, joint ventures and/or investments on AMD’s business and AMD’s ability to integrate acquired businesses;  impact of any impairment of the combined company’s assets; restrictions imposed by agreements governing AMD’s notes, the guarantees of Xilinx’s notes and the revolving credit facility; AMD's indebtedness; AMD's ability to generate sufficient cash to meet its working capital requirements or generate sufficient revenue and operating cash flow to make all of its planned R&D or strategic investments; political, legal and economic risks and natural disasters; future impairments of technology license purchases; AMD’s ability to attract and retain qualified personnel; and AMD’s stock price volatility. Investors are urged to review in detail the risks and uncertainties in AMD’s Securities and Exchange Commission filings, including but not limited to AMD’s most recent reports on Forms 10-K and 10-Q. 

i Based on AMD internal performance and power projections for the AIE-ML v2 compute tile architecture in the Versal AI Edge series Gen 2 using the MX6 data type, compared to performance specifications and AMD Power Design Manager power results for the AIE-ML compute tile architecture featured in the first generation Versal AI Edge Series using INT8 data type. Assumptions: 2 row, 8 column sub-arrays. Operating conditions: 1 GHz Fmax, 0.7V AIE operating voltage, 100C junction temperature, typical process, 60% vector load, % activations = 0 < 10%. Actual performance will vary when final products are released in market. Performance projections as of March 2024. (VER-023).

i i Based on AMD internal pre-silicon performance estimates for combined total DMIPs of the Versal AI Edge Series Gen 2 and Versal Prime Series Gen 2 processing system when configured with 8 Arm Cortex-A78AE applications cores @2.2 GHz and 10 Arm Cortex-R52 real-time cores @1.05 GHz, compared to the published combined total DMIPs of the processing system in the first-generation Versal AI Edge series and Versal Prime series. Versal AI Edge Series Gen 2 and Versal Prime Series Gen 2 operating conditions: highest available speed grade, 0.88V PS operating voltage, split-mode operation, maximum supported operating frequency. First-generation Versal AI Edge series and Versal Prime Series operating conditions: highest available speed grade, 0.88V PS operating voltage, maximum supported operating frequency. Actual DMIPs performance will vary when final products are released in market. Performance projections as of February 2024. (VER-027)

Contact: Brian Garabedian  AMD Communications +1 408-386-4621 Brian.Garabedian@amdcom

Suresh Bhaskaran AMD Investor Relations +1 408-749-2845 [email protected]

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The Best Family Cars of 2024

Our auto experts (and countless parents) evaluated hundreds of vehicles to land on these top-tested winners.

After 12 months of rigorous testing in all types of driving conditions, our 2024 Best Family Car award winners have impressed our professional vehicle testers, who are most in tune with behind-the-wheel performance, as well as real-world parents, who care deeply about safety, reliability, comfort, cargo space and of course cost. Their combined insights all contributed to our final list of winners.

Recognizing that no two families have the exact set of needs, we’ve worked hard to cover a wide range of categories, from compact cars under $30K to full-size SUVs. Our winning picks also include dependable minivans and wagons, versatile crossovers, two- and three-row SUVs and a selection of hybrids and EVs that deliver efficiency and range without compromising performance.

If cost is among your primary concerns, you may be interested in a new study by Atlas Public Policy that suggests that going electric could save you money in the long run. Their research crunched the numbers and found that when you add up the tax breaks, the upfront cost and what you’d spend on fuel and upkeep, owning an electric vehicle is often cheaper than owning a traditional gas car.

But nobody knows your personal driving habits the way you do, so we recommend using our winners as a starting point to guide your research. Remember that most models offer multiple levels or “trims” (a.k.a. prepackaged groups of feature upgrades a buyer can layer on top of the base model, which always is the cheapest and has the fewest features). Higher trims cost more but often include amenities you might not want to skip such as a heated steering wheel and technology enhancements.

Mindful of an ever-growing interest in sustainable living , we’ve made sure to include electric vehicle options in almost every category. We’ve also included important metrics like mileage, occupants, trims and length to help you compare options more easily. For a deeper look at each vehicle, we’ve included Car and Driver ’s rating and links to their in-depth review for each pick.

As always, we encourage you to consider your family’s unique needs, from where you live to your daily driving habits, to ensure that you choose the vehicle that best fits your family.

All prices and EPA fuel-economy listings are for base models. Check out fueleconomy.gov or the manufacturers’ websites for fuel economy on related models.

Best Family Cars of 2024

Our winners run the gamut, from compact sedans that zip around city streets to spacious SUVs that can handle a larger brood along with everyone’s gear.

Best Sedans

• Best Compact Car : Hyundai Elantra
• Best Luxury Compact Car : Acura Integra
• Best Sedan: Honda Accord
• Best Luxury Sedan : Mercedes-Benz E-Class
• Best Full-Size Sedan : Toyota Crown
• Best Luxury Full-Size Sedan : Genesis G90
• Best Electric Sedan: Polestar 2
• Best Hybrid Car: Toyota Prius

Best Crossovers and SUVs

• Best Subcompact SUV : Buick Envista
• Best Luxury Subcompact SUV: BMW X1
• Best Compact SUV: Hyundai Tucson
• Best Luxury Compact SUV: Volvo XC60
• Best Midsize 2-Row SUV: Honda Passport
• Best Luxury Midsize 2-Row SUV: Lincoln Nautilus
• Best Midsize 3-Row SUV: Kia Telluride
• Best Luxury Midsize 3-Row SUV: Mercedes-Benz GLS-Class
• Best Boxy SUV: Ford Bronco
• Best Luxury Boxy SUV: Land Rover Defender 130
• Best Large SUV: Chevrolet Tahoe
• Best Luxury Large SUV: Cadillac Escalade
• Best Electric SUV: Kia EV9
• Best Electric Luxury SUV: Genesis Electrified GV70
• Best Hybrid SUV: Lexus TX Hybrid

More Great Family Cars We Tested

• Best Minivan: Toyota Sienna
• Best Wagon: Subaru Outback
• Best Luxury Wagon: Volvo V90 Cross Country
• Best Pickup Truck: Ram 1500
• Best Electric Pickup Truck: Ford F-150 Lightning

After the list of winners, you’ll find more details about our testing process and our long-standing partnership with Car and Driver.

Best Compact Car

2024 Hyundai Elantra

• Miles Per Gallon: 32/41/36 (city/highway/combined) as per EPA Fuel Economy
• Seating: 5 seats
• Available Trims: SE, SEL, Limited, N Line
• Length: 185.4 inches

With an 8.5 out of 10 rating from Car and Driver and average owner ratings of 4.8 out of 5, the 2024 Hyundai Elantra stands out in the compact sedan class thanks to its striking design, impressive tech and surprisingly spacious interior. “The Elantra is fuel-efficient and a breeze to park, making it an excellent pick for young families or anyone who is new to car ownership,” says automotive expert and professional vehicle tester Drew Dorian, managing editor of Car and Driver ’s Buyer’s Guide. “But don't let its practicality fool you — this Hyundai packs serious style punch and delivers incredible value.”

With a starting price that undercuts that of many rivals in its class by about $3,000 and a brand-new look for 2024, the Hyundai Elantra makes a head-turning first impression. Our testers noted a sharper exterior design with new front fenders, redesigned headlights and taillights, a more streamlined front grille and a bolder rear bumper.

On the inside, you’ll appreciate additional USB-C ports throughout along with unexpected legroom and headroom and a trunk that easily accommodates six carry-on suitcases. The infotainment system has a standard 8.0-inch or an optional 10.3-inch touchscreen complete with Apple CarPlay, Android Auto and Wi-Fi, all included as standard features.

When it comes to safety, the Elantra is stocked with a full plate of driver-assist goodies, and a lot of them come without your having to tick any option boxes. Safety must-haves like automated emergency braking with pedestrian detection, lane-departure warnings and adaptive cruise control all come standard.

Test Drive Results: In GH test drives, our experts noted a “composed ride” with impressive real-world fuel efficiency, especially for the hybrid model. Testers also appreciated the modern styling of the interior cabin, more ample than expected legroom for passengers in the rear seats and the spacious trunk. Tip: Choose the SEL trim and convenience package for comfortable upgrades like heated front seats and a hands-free trunk release.

Standout Features and Warranty: Testers raved about the voice recognition feature, which allows you to verbally adjust the climate or the seat heating. Hyundai offers the most comprehensive warranty in the automotive world with a 10-year/100,000-mile powertrain warranty and three years of complimentary maintenance. We love this because it provides added peace of mind for anyone who is concerned about surprise maintenance costs.

Bottom Line: The 2024 Elantra has always been a dependable and affordable vehicle in its class — and recent updates make it a real winner.

Best Luxury Compact Car

2024 acura integra.

• Miles Per Gallon: 30/37/33 (city/highway/combined) as per EPA Fuel Economy
• Available Trims: Integra Base, A-Spec, A-Spec with Technology (CVT), A-Spec with Technology (6MT), Type S
• Length: 185.8 inches

The 2024 Acura Integra is among the sportier and more playful options in our 2024 Best Family Car Awards. With an 8 out of 10 rating from Car and Driver , it’s an incredibly cost-effective option compared with similar models in its class, many of which can set you back by at least $10K more.

“The Integra is a smart choice for driving aficionados who still need the daily benefits of easy parking and good fuel economy on city streets and highways,” says Dorian. “If you really want to take the driving experience to the next level, consider the Type S , which we rated 10 out of 10 at Car and Driver for its superior handling and performance. Just keep in mind that it only comes in manual transmission.”

Relaunched by Acura in 2023, the 2024 Integra doesn’t stray too far from last year’s design with a sporty, coupe-like exterior and streamlined curves. If you drive a lot at night or in other low-light circumstances, you’ll appreciate brighter, more energy-efficient headlights that help enhance visibility. The spacious cargo area is another plus, offering more room than is typically found in compact vehicles.

Inside, the Integra feels premium and practical at the same time with a leather-wrapped steering wheel and comfortable front seats. The infotainment system includes a 7.0-inch touchscreen, which can be upgraded to 9.0 inches with the Technology package. This package also comes with wireless charging and enhanced connectivity features.

Test Drive Results: GH testers noted an energetic and engaging driving experience fueled by a powerful turbocharged engine, even with the base model. Some commented on the “coziness” of the cabin because of the low-roof design, which sacrifices about three inches in headroom but adds to the sports car–like vibe.

Standout Features and Warranty: Consumer testers and car pros alike loved the versatility of the rear fifth-door liftback design — which is one of a kind in this segment — and the 60/40-split rear seats that fold flat. These design choices offer the flexibility to accommodate both passengers and cargo — even skis! — with ease. Acura’s warranty coverage adds another layer of appeal, as it offers a longer powertrain warranty than do many of its competitors, providing Integra owners with added peace of mind over the long term.

Bottom Line: The 2024 Acura Integra makes sense for those seeking a sporty ride that prioritizes safety, storage and performance — all at a nice price for the luxury segment.

2024 Acura Integra, from $31,800 (base price)

2024 Honda Accord

• Miles Per Gallon: Gasoline: 29/37/32 (city/highway/combined); Hybrid: 46/37/32 (city/highway/combined) as per EPA Fuel Economy
• Available Trims: LX, EX, Hybrid Sport, Hybrid EX-L, Hybrid Sport-L, and Hybrid Touring
• Length: 195.7 inches

Full transparency: Every year we try to unseat the Honda Accord as our winning pick in the Best Sedan category — and every year (for many consecutive years now) we just can’t. Across the board, the 2024 Accord shines as a winning midsize sedan, especially for families. It combines robust performance, sleek styling, noteworthy fuel economy, a whole host of safety features and comfort amenities that you’d expect at a much higher price point.

It’s also a Car and Driver favorite, earning all three of its top accolades this year: an impressive 10 out of 10 rating , a spot on its coveted 2024 10 Best Cars list and a 2024 Editors’ Choice Award. “The Accord's refined road manners, which are noticeable from mile one, are what earn it our consistent praise,” says Dorian.

Following its 2023 redesign, the 2024 model looks largely the same with very little visual clutter. The exterior styling is refined and restrained, allowing it to blend well into any crowd. When it comes to fuel economy, you can’t beat the EX-L Hybrid trim, which delivers exceptional range (51 miles per gallon in the city; 44 MPG on the highway) and nice interior upgrades like a larger 12.3-inch infotainment display, leather seats and a sunroof.

Test Drive Results: In our road and test track evaluations, the Accord’s performance proved reliable and robust. Honda reports fine-tuning the suspension and steering, but without comparing the 2023 and 2024 models side by side it’s hard to notice. What our tester did say was that the car was fun and comfortable to drive and it made them feel confident behind the wheel.

Standout Features and Warranty: The trunk is spacious at 16.7 cubic feet, which means you can easily load it with sports gear, groceries and suitcases and still have room to spare. The back seat is equally roomy for both adults and children. While Honda’s warranty coverage is standard for the industry, the Accord stands out with complimentary scheduled maintenance, a perk for buyers looking for added value.

Bottom Line: The 2024 Honda Accord is the complete package, combining style, performance and practicality — and it continues to impress year after year.

2024 Honda Accord, from $28,390 (base price)

Best Luxury Sedan

2024 mercedes-benz e-class.

• Miles Per Gallon: 24/33/27 (city/highway/combined) as per EPA Fuel Economy
• Available Trims: E 350, E 450, AMG E-Class
• Length: 194.9 inches

Redesigned for 2024, the new Mercedes-Benz E-Class impressed our experts with its refined styling, enhanced technology, luxurious trimmings and noteworthy performance. “The updated E-Class redefines luxury for the midsize sedan segment,” says Dorian. “It pushes the boundaries of style and substance and feels almost on par with the larger, higher-priced S-Class.”

Earning an 8 out of 10 rating from Car and Driver , the all-wheel drive E-Class offers an incredibly smooth ride and an interior that wraps front and rear passengers in luxe comfort. The handsomely updated exterior is a clear reflection of Mercedes-Benz’s commitment to quiet luxury and refined elegance. “It’s not flashy, it’s just chic,” said one reviewer.

The spacious interior prioritizes comfort and quality. An extensive list of standard features includes power front seats with memory, a panoramic roof, dual-zone automatic climate control and smartly placed LED ambient lighting. Ventilated seats, massage functions and advanced air purification systems are among the optional luxury features that can be added.

Test Drive Results: Testers noted a responsive and agile ride and marveled at the level of comfort they felt behind the wheel. Connecting to Bluetooth was seamless and easy, while wireless charging and “Hey, Mercedes” voice control enhanced their test-drive impressions.

Standout Features and Warranty: Optional massage features are spot-on and feel close to those of a real massage chair. The infotainment system is anchored by a large 14+-inch main screen that is very user-friendly and seamlessly connects with third-party apps. While Mercedes-Benz offers a solid warranty for the E-Class, it's worth noting that complimentary maintenance is not part of the package, unlike with some competitors.

Bottom Line: The 2024 Mercedes-Benz E-class stands out as a luxurious and well-rounded sedan that offers superior style, comfort and advanced technology. It is a well-positioned leader in the luxury sedan sector and provides a compelling option for families seeking a premium vehicle that balances performance with indulgence.

2024 Mercedes-Benz E-Class, from $62,300 (base price)

Best Full-Size Sedan

2024 toyota crown.

• Miles Per Gallon: 42/41/41 (city/highway/combined) as per EPA Fuel Economy
• Available Trims: XLE, Limited, Platinum
• Length: 196.1 inches

When Toyota reintroduced the Crown last year, we were immediately impressed by the all-wheel drive sedan/SUV mashup, so much so that it earned a spot on our 2023 Best Family Car Awards list. For the second year in a row, the Crown is claiming the honor of being our Best Full-Size Sedan winner.

We’ll note right up front that the 2024 version is not much different from the 2023 version, offering the same exceptional fuel economy, bold styling, and a more upscale-than-expected interior. “Get past the Crown’s somewhat controversial exterior and you’ll enjoy a near-luxury experience and surprisingly efficient mileage per gallon,” says Dorian, noting that Car and Driver’ s year-over-year score remains 8.5 out of 10 .

The interior comes with a range of standard features including power-adjustable heated front seats, dual-zone climate control and ambient lighting. Higher trims add luxury features like a panoramic sunroof, leather upholstery and ventilated seats. Infotainment includes a standard 12.3-inch touchscreen with wireless Apple CarPlay and Android Auto, digital gauges, wireless charging, Wi-Fi and USB-C ports.

Test Drive Results: Many testers appreciated the SUV-like driver’s position in a sedan-like package in addition to the car’s peppy acceleration, which only gets better as you go up in trim levels. “The gas pedal is so responsive,” raved one tester. During our review, we also noted that safety features are comprehensive across all trims and include standard automated emergency braking, lane-departure warning, and adaptive cruise control.

Standout Features and Warranty: The Crown comes with a limited warranty for three years or 36,000 miles, a powertrain warranty for five years or 60,000 miles and hybrid component coverage for eight years or 100,000 miles. There’s also complimentary maintenance for two years or 25,000 miles.

Bottom Line: W e applaud Toyota’s efforts to combine the practicality of all-wheel drive and a higher seating position with the fuel efficiency of a hybrid system, packaged in a sedan that offers a unique alternative to the traditional large car market.

2024 Toyota Crown, from $40,350 (base price)

Best Luxury Full-Size Sedan

2024 genesis g90.

• Miles Per Gallon: 18/26/21 (city/highway/combined) as per EPA Fuel Economy
• Available Trims: 3.5T and 3.5T E-Supercharger
• Length: 207.7 inches

As a newer entity in the automotive industry, Genesis has worked hard to entice consumers with luxury in everything except price. From first impressions to on-the-road handling, our testing pros noted that the 2024 G90 is a standout. In addition to this win, the vehicle earned a 9 out of 10 rating from Car and Driver and a 2024 Editors’ Choice Award.

This year’s model has minimal changes after a significant redesign in 2023, It offers a compelling alternative to luxe sedans like the Mercedes-Benz S-Class and BMW 7-Series. It also starts at a price that's almost $30K cheaper than last year’s winner. On top of the added power, the higher trim also boasts air suspension; reclining rear seats with heat, ventilation and massage; and upgraded audio.

The G90 comes in two main configurations: a base model with a 375-horsepower twin-turbo V-6 and a more powerful E-supercharged variant that produces 409 horsepower. Both models feature an eight-speed transmission and all-wheel drive. The E-supercharged version stands out with its swift acceleration and comfortable ride, courtesy of air suspension and a Chauffeur driving mode.

Inside, the G90 rivals other luxury sedans with its opulent interior, featuring standard Nappa leather, massaging front seats and a wealth of tech including a 12.3-inch display for the infotainment system and other notable comfort amenities.

A full suite of standard driver-assistance safety features includes forward-collision warning, automated emergency braking, lane-departure warning, lane-keeping assist, adaptive cruise control with lane-centering and remote smart parking assistance, which takes the guesswork out of parking.

Test Drive Results: Testers were generous with praise for this vehicle inside and out, noting its exceptionally spacious interior, elegant exterior and upscale shape. “My elderly mother with limited mobility had no trouble getting in or out,” said one tester. “It’s such a smooth, quiet, refined driving experience,” said another. “Total game changer.” Some also noted that smartphone integration required a cable, which they hadn’t expected.

Standout Features and Warranty: Everything about this car feels like a standout, from the extremely comfortable seats to the oversized space to the advanced technology. The Genesis G90 comes with a 5-year/60,000-mile limited warranty, a 10-year/100,000-mile powertrain warranty and 3 years/36,000 miles of complimentary scheduled maintenance, reflecting Genesis’s dedication to a premium ownership experience with one of the luxury segment’s most generous coverage plans. Genesis also provides one of the most comprehensive warranty and maintenance coverage plans in the luxury market, including a standout service that picks up your vehicle for maintenance appointments.

Bottom Line: T he Genesis G90 is a value-packed luxury sedan that delivers on comfort, features and style, easily challenging better-known European luxury models.

2024 Genesis G90, from $89,200 (base price)

Best Electric Car

2024 polestar.

• Miles Per Gallon: 124/106/115 (city/highway/combined) as per EPA Fuel Economy
• Available Trims: Long Range Single Motor Plus, Long Range Dual Motor Plus
• Length: 181.3 inches

Another new player in the unpredictable EV market, Polestar is focused on making fewer vehicles with broader appeal. Its EV sedan, the 2024 Polestar 2, balances fun driving dynamics, a well-equipped base model and cutting-edge technology, all wrapped in a refined, understated and unassuming shell.

Our colleagues at Car and Driver were enthusiastic about this car too, showing their appreciation with an 8.5 out of 10 rating and a 2024 Editors’ Choice Award. “We were most impressed with the 2024’s boost in range over the 2023 model,” says Dorian. “That, combined with the distinctly boxier shape than some competitors, is likely to appeal to family-minded consumers.”

Dorian is right: The Polestar 2 received a significant boost in range (and fast-charging) capabilities thanks to a larger battery and updated hardware. The rear-wheel-drive model now offers an impressive 320 miles of range, while the dual-motor variants provide 276 miles. The rear-drive single-motor model is a solid pick for those prioritizing daily usability over outright performance, and the Performance Pack adds an enthusiast edge, though this comes at the expense of range.

The Polestar 2’s cabin is modern and comfortable, with eco-friendly materials and a minimalist design. Cargo space is adequate, though some competitors offer more room. Safety features are plentiful, with standard automated emergency braking, adaptive cruise control and blind-spot monitoring.

Test Drive Results: Testers noted head-turning glances from curious onlookers who couldn’t quite place the vehicle. “I found the ride to be smooth, quiet and otherwise unremarkable — in a good way,” said one tester, noting less jerky movements during deceleration than some other EVs. “It was also very comfortable.”

Standout Features and Warranty: The infotainment system is a highlight with its intuitive Google-based interface. And of course we love the hatchback-style truck, which delivers almost 40 cubic feet of cargo space when the rear seats are folded down — plus, the frunk! Polestar’s warranty coverage is competitive, but the lack of complimentary scheduled maintenance is a notable omission.

Bottom Line: The 2024 Polestar 2 is an attractive option for EV buyers who value driving enjoyment, technology integration and a stylish yet practical interior.

2024 Polestar 2, from $49,900 (base price)

Best Hybrid Car

2024 toyota prius.

• Miles Per Gallon: 57/56/57 (city/highway/combined) as per EPA Fuel Economy
• Available Trims: LE, XLE, Limited
• Length: 181.1 inches

One more multiyear GH Best Family Car Award winner, the 2024 Toyota Prius delivers an impressively peppy drive and great mileage, even on the front-wheel-drive base model. Our experts also like that it comes well equipped with standard safety features like blind-spot monitoring, rear cross-traffic alert, automated emergency braking, lane-keeping assist and adaptive cruise control.

Like us, Car and Driver has a long-standing admiration for this vehicle, showing their love for the 2024 model with their triple threat of accolades: a 10 out of 10 rating , a 10 Best Cars Award and an Editors’ Choice Award. “The 2024 Prius is a total head-turner,” says Dorian. “But its real story is fuel economy. Whether you go for the standard Prius or the plug-in hybrid Prius Prime , our testing confirms that the Prius delivers on its efficiency promises.”

This year the Prius has been given no significant changes after its complete 2023 redesign. Gone are the gimmicky toy-car-like vibes (and related nerdy stereotypes), replaced by a more mature and handsome design inside and out. The interior is conservative yet high-quality, with the instrument panel placed in front of the driver instead of in the middle of the car. The infotainment system is sharp and simple, but you might find the standard 8-inch screen a little small. If so, a larger 12.3-inch screen is available on higher trims.

Test Drive Results: Our reviewers noted much preppier acceleration than they previously associated with the Prius. And while most agreed that it wasn’t as sporty as some rivals, the 2024 Prius offers a more engaging driving experience than earlier generations. “I never saw myself as a Prius driver, but that’s all changed,” said one tester.

Standout Features and Warranty: The tech powering the infotainment systems worked seamlessly during test drives — and we loved the voice-activated features. Toyota’s warranty coverage is competitive, with the added benefit of complimentary scheduled maintenance for the first two years or 25,000 miles. Bottom Line: For the second year in a row, we’ve recognized the more “grown-up” Toyota Prius as a clear winner for families prioritizing fuel economy, flawless reliability and sustainable living at a digestible price point.

2024 Toyota Prius, from $27,950 (base price)

Best Subcompact SUV

2024 buick envista.

• Miles Per Gallon: 28/32/30 (city/highway/combined) as per EPA Fuel Economy
• Available Trims: Preferred, Sport Touring, Avenir
• Length: 182.6 inches

New for 2024, the Buick Envista enters the market with a stylish coupe-like exterior, a restrained interior (not counting the almost full-dash digital screen) and a shockingly affordable price. “When I first laid eyes on the car I had reverse sticker shock,” said one tester. “I thought it was going to go for a much higher price. It looks more high-end.”

With a 9 out of 10 rating from Car and Driver plus a 2024 Editors’ Choice Award, it’s obvious that their testing pros agree that the Envista is a winning pick. “It’s more sleek than sporty and more practical than luxurious, but the Envista is an attractive low-cost option among small SUVs,” says Dorian. “It makes a lot of sense for urban families and also as a first car purchase.”

Despite front-wheel drive coming standard across the board, the Avenir model in particular impresses with nickel-finished 19-inch wheels and a mesh grille that elevates its look. It also delivers the most advanced tech upgrades, like wireless Apple CarPlay and Android Auto compatibility, wireless smartphone charging and an onboard Wi-Fi hotspot.

Inside, the Envista offers a spacious cabin with a comfortable back seat and solid cargo space. While the interior materials might give away the price point more than does the exterior styling, they are still perfectly on point for what the Evista is.

Test Drive Results: Testers picked up on the car’s lower horsepower, noting a smooth and solid drive on city streets and highways but not one that was particularly exciting. Though this is a subcompact crossover SUV, we could still fit six carry-on suitcases behind the rear seats. We also appreciated standard driver-assistance features like adaptive cruise control, lane-keeping assist and automated emergency braking.

Standout Features and Warranty: Apart from the sleek exterior, most testers called out the large integrated digital gauge display and infotainment touchscreen that sits under a single glass panel and puts everything you need right at your fingertips. Buick’s warranty for the Envista is competitive but includes complimentary scheduled maintenance only for the first visit.

Bottom Line: The 2024 Buick Envista is a strong contender in the compact SUV market, offering a mix of style, technology, and value that’s hard to beat.

2024 Buick Envista, from $23,495 (base price)

Best Luxury Subcompact SUV

2024 bmw x1.

• Miles Per Gallon: 25/34/28 (city/highway/combined) as per EPA Fuel Economy
• Available Trims: X1 xDrive28i, X1 M35i
• Length: 177.2 inches

GH testers noted the 2024 BMW X1 stands out for its well-equipped base model, roomy cabin and refined yet engaging driving dynamics. This vehicle earned a 9 out of 10 rating from Car and Driver and a 2024 Editors’ Choice Award. “Although it sits at the bottom of BMW’s SUV lineup, there’s nothing entry-level about the X1,” says Dorian. “It offers agile handling and urban practicality thanks to its compact size.”

On the interior, the X1 boasts a sleek, modern design and high-quality materials with notable tech-forward features, like BMW’s latest iDrive 9 system, a curved-glass display and wireless smartphone integration. Optional upgrades include a panoramic sunroof and heated front seats, which you will miss if you don’t have them. Cargo space is ample, and the X1 includes several thoughtful storage solutions throughout.

For 2024, the X1 adds a host of new safety features, including all-occupant seatbelt reminders and steering-wheel haptic feedback. The 10.3-inch touchscreen is standard on select trims, and dual automatic temperature control with an auto-defogging function is now included from the SEL trims upward. The X1 comes with a suite of standard safety features, and advanced options like adaptive cruise control with lane centering are available. The NHTSA has given the X1 a five-star overall safety rating.

Test Drive Results: Auto pros celebrated the X1’s power and performance, especially at the higher trims, while parent reviewers overwhelmingly shared positive feedback about their testing experience. “I loved how easy it was to zip around city streets and parallel park,” raved one tester. “I felt so good.”

Standout Features and Warranty : BMW’s iDrive 9 infotainment system features prominently in the X1, with a unified panel that displays both gauges and infotainment. Wireless Apple CarPlay and Android Auto are standard, with options like a wireless charging pad and Harman/Kardon stereo available. BMW’s iDrive 9 brings improvements to the infotainment system’s usability. BMW’s warranty is typical for the luxury class, but the three years of free scheduled maintenance add value to the ownership experience. Bottom Line: The 2024 BMW X1 impresses with its combination of style, comfort and driving enjoyment, making it a compelling choice for those seeking a premium compact SUV.

2024 BMW X1, from $40,500 (base price)

Best Compact Crossover SUV

2024 hyundai tucson.

• Miles Per Gallon: 25/32/28 (city/highway/combined) as per EPA Fuel Economy
• Available Trims: SE, SEL, XRT, Limited
• Length: 182.3 inches

The 2024 Hyundai Tucson earns our praises with its smart styling, composed ride and wealth of standard safety features. In addition to standing out for our experts, it earned an 8.5 out of 10 rating from Car and Driver and their 2024 Editors’ Choice Award.

“The Tucson’s competitive pricing, fashion-forward looks inside and out and focus on safety make it a winner in our book,” says Dorian, adding that he’s a fan of the plug-in hybrid model because it’s more powerful and offers substantially better fuel economy: 80 miles per gallon for combined city/highway versus 28 mpg for the standard model.

The well-crafted interior offers modern touches and plenty of room for passengers and cargo. The infotainment system features standard Apple CarPlay and Android Auto, with the option to upgrade to a larger screen and additional features like SiriusXM and a Bose stereo system.

New safety features for 2024 include all-occupant seatbelt reminders and rear-side airbags, along with steering-wheel haptic feedback to complement the lane-keeping assist and blind spot monitoring systems. When you are parked, the standard safe exit warning feature can alert you when a car is approaching from behind.

Test Drive Results: Testers were impressed by the interior comforts and noted a mellow and quiet driving experience. “It’s not the zippiest car, but it feels very reliable and safe,” said one. Others noted that it took some time to get used to the push-button gear shifter.

Standout Features and Warranty: When you opt for the SEL Convenience trim, you’ll enjoy upgraded amenities like heated front seats, a sunroof and enhanced driver-assistance technologies. Hyundai’s warranty coverage is arguably the best in the segment, with a generous complimentary scheduled maintenance program and a 10-year/100,000-mile powertrain limited warranty.

Bottom Line: The 2024 Hyundai Tucson is a compelling option for those seeking a stylish, well-equipped and practical compact SUV that delivers value and a touch of luxury without a premium price tag.

2024 Hyundai Tucson, from $27,500 (base price)

Best Luxury Compact Crossover SUV

2024 volvo xc60.

• Miles Per Gallon: 22/28/25 (city/highway/combined) as per EPA Fuel Economy
• Available Trims: Core, Plus, Ultimate

Volvo’s 2024 XC60 blends style, safety and luxury in a standout package. This compact all-wheel-drive SUV represents a refined and reliable option for families on the go. “It’s really a perfect city family vehicle,” says Dorian. “Think elegant but not flashy — and with notable performance enhancements.”

In line with GH’s results, Car and Driver gave it a 9 out of 10 rating and a 2024 Editors’ Choice Award. For the best fuel economy, consider upgrading to the plug-in hybrid Recharge model, which can be conveniently charged at home or public stations. (Bonus: Volvo also enables battery charging via the vehicle’s gasoline engine.)

Inside, the XC60 shines with a modern design and high-quality materials that feel similar to more expensive Volvo models. The cabin is quiet and comfortable, offering ample space for passengers, though cargo space is average for the segment. The infotainment system, centered on a 9.0-inch touchscreen with Volvo’s Google-based interface, is responsive but may require some getting used to.

Like most Volvos, the XC60 has an excellent safety rating and its safety features are abundant. These include automated emergency braking, lane-keeping assist, collision avoidance and blind-spot detection.

Test Drive Results: When driving the XC60, reviewers commented most on the comfort of the cabin and the adult-friendly, ergonomically designed seats in both rows. Our experts recommend opting for the mid-range Plus trim for an excellent balance between cost and features. You’ll get more attractive wheels, luxurious leather upholstery, a 360-degree camera system and front and rear parking sensors, which greatly improve convenience and safety. While some testers noted tight cargo space, it does expand to 63.3 cu ft with the rear seat down, which provides some flexibility.

Standout Features and Warranty: The XC60 introduces a range of intuitive features, such as Google built in, an air purifier, a Bowers & Wilkins audio system and a head-up display to improve the driving experience. A comprehensive warranty policy adds to the XC60’s appeal, with three years of scheduled maintenance included. Bottom Line: The 2024 Volvo XC60 is a compelling choice for those seeking a luxury SUV that combines style, comfort and safety alongside advanced technology in a sophisticated package.

2024 Volvo XC60, from $46,900 (base price)

Best Midsize 2-Row SUV

2024 honda passport.

• Miles Per Gallon: 19/24/21 (city/highway/combined) as per EPA Fuel Economy
• Available Trims: EX-L, TrailSport, Black Edition
• Length: 189.1 inches

The 2024 Honda Passport offers a spacious cabin and is well equipped from the base model up, striking a balance between practicality and premium features. “It’s a solid option for any family prioritizing space and standard features over luxury or fuel efficiency,” says Dorian. The Passport earned an 8.5 out of 10 rating from Car and Driver and a 2024 Editors’ Choice Award.

For 2024, the Passport has minor updates, including new all-terrain tire options for the TrailSport and a new, swankier Black Edition trim with a more upscale interior and heated steering wheel. We were most excited about the updated center console and its increased storage space as well as the Passport’s 5,000-pound towing capacity, which is enough to tow a small recreational boat or trailer and helps the vehicle live up to its get-out-there moniker.

The interior is functional and well-designed with generous cargo space. If you like a large infotainment screen, you might be underwhelmed by the somewhat compact 8.0-inch touchscreen, which is standard across all trims without any upgrade options. Apple CarPlay and Android Auto are also standard, but they require a wired connection. Higher trims offer additional features like a Wi-Fi hotspot and an upgraded audio system.

Test Drive Results: GH road testers reported a comfortable drive experience and good agility behind the wheel along with impressive rear cargo space and a good amount of storage throughout.

Standout Features and Warranty: Our experts liked that leather detailing, a sunroof and all-wheel drive are standard across all trims along with Honda’s comprehensive suite of driver-assistance technologies. Honda’s warranty is competitive, with the added advantage of complimentary scheduled maintenance for the first two years or 24,000 miles. Bottom Line: The 2024 Honda Passport is a compelling package for those looking for a practical and spacious SUV that offers a good selection of features without the premium price of luxury rivals.

2024 Honda Passport, from $41,900 (base price)

Best Luxury Midsize 2-Row SUV

2024 lincoln nautilus.

• Miles Per Gallon: 30/31/30 (city/highway/combined) as per EPA Fuel Economy
• Available Trims: Premiere, Reserve, Black Label
• Length: 193.2 inches

Thanks to a major update for 2024, the Lincoln Nautilus is now a bona fide award-worthy option in the midsize SUV segment — and it’s a first-time winner for GH. With an 8 out of 10 rating from Car and Driver, it’s gained a full 2.5 points over previous model years.

”It’s rare to see such a significant year-over-year increase,” says Dorian. “We’ve based our new and improved score on the 2024 Nautilus’s quiet cabin, well-isolated ride and deluxe features. This is now a cushy driving machine that perfectly suits Lincoln’s luxury ethos.”

So what’s new? The exterior has been given a luxurious fine tuning, all-wheel drive is standard across all trims and the interior is a significant upgrade over the previous model with more legroom and luxe materials throughout. Infotainment is packaged behind an expansive panoramic 48.0-inch digital display and an 11.1-inch touchscreen coupled with a 28-speaker Revel Ultima 3D audio system. The system also includes wireless Android Auto and Apple CarPlay.

Safety features are comprehensive, with Lincoln’s Co-Pilot360 suite of 20+ driver-assist technologies standard on all models. These include adaptive cruise control, lane-keeping assist, pre-collision and pedestrian detection with automated braking, blind spot monitoring and more. Also, there are five drive modes to suit all types of road conditions.

Test Drive Results: GH testers noted a comfortable and cushy ride that made uneven pavement and potholes distinctly less noticeable. Most agreed that Normal mode was the most pleasant.

Standout Features and Warranty: BlueCruise hands-free highway driver-assist technology is standard, but perhaps even more appealing is an optional upgrade that turns your car into a spa on wheels. Dubbed Lincoln Rejuvenate, this feature allows you to create a self-care cocoon by making adjustments to interior lighting, seat position, screen visuals and in-seat massage. It even offers aromatherapy through scent cartridges in the center armrest. Lincoln’s warranty coverage is competitive, with a longer powertrain warranty than those of many rivals. The Black Label trim adds dealership perks, including complimentary scheduled maintenance for four years or 50,000 miles. Bottom Line: The 2024 Lincoln Nautilus stands out as a well-equipped, spacious and technologically advanced luxury crossover. Its attractive entry price and rich mix of standard equipment make it a compelling choice for those seeking a reliable and upscale vehicle.

2024 Lincoln Nautilus, from $50,415 (base price)

Best Midsize 3-Row SUV

2024 kia telluride.

• Miles Per Gallon: 20/26/22 (city/highway/combined) as per EPA Fuel Economy
• Seating: 7 or 8 seats
• Available Trims: LX, S, EX, EX-X-Line, SX, SX X-Line, SX X-Pro, SX Prestige, SX Prestige X-Line, SX Prestige X-Pro
• Length: 196.9 inches

Hang out in any parent group, urban or suburban, and inevitably you’ll find multiple Telluride owners. And for good reason: “The Telluride has the goods to satisfy a wide range of tastes, but most of all it is set up nicely to cater to families with its dominant shape, spacious three-row interior and thoughtful features,” says Dorian.

At GH, this is the third time we’ve recognized the Telluride with a Best Family Car Award in the midsize three-row SUV category. It’s also one of two Kias among this year’s winning picks (along with the all-electric EV9). For five years straight it has earned all three of Car and Driver’ s most prestigious accolades: a 10 out of 10 rating , a spot on the 2024 10 Best Trucks and SUVs list and a 2024 Editors’ Choice Award.

For 2024, the Telluride maintains its strong position with minor exterior updates and new amber-colored daytime running lights on all models. It continues to impress with a roomy, upscale cabin and a generous helping of features, especially on higher trims. The Telluride shines with its 8.4 inches of ground clearance and a 5,500-pound towing capacity. Cargo space is ample, with room for plenty of luggage or gear.

Infotainment is handled by a 12.3-inch touchscreen with Apple CarPlay, Android Auto and in-dash navigation. The Harman/Kardon audio system, dual sunroofs, heated and ventilated seats in the first- and second-row captain’s chairs and wireless smartphone charging are available options. A suite of standard driver-assistance features includes automated emergency braking and blind-spot monitoring.

Test Drive Results: Experts and real-world reviewers offered glowing feedback across almost every category, noting smooth performance and precise handling. Cargo space and interior styling also earned high praise.

Standout Features and Warranty: The comprehensive combination of features in such an appealing package and at such a competitive price is the Telluride’s magic formula. We also still really like the “Passenger Talk” option that allows the driver to use a front-mounted microphone to speak to passengers in the third row via rear-mounted speakers — no yelling required. Kia’s warranty is among the best in the industry, including a lengthy powertrain warranty, though it doesn’t include complimentary scheduled maintenance like some competitors. Bottom Line: The 2024 Kia Telluride stands out as a top choice in the midsize SUV segment, offering style, comfort and versatility. It’s ideal for families who need size and scale and who desire a touch of luxury at a mainstream price.

2024 Kia Telluride, from $36,190 (base price)

Best Luxury Midsize 3-Row SUV

2024 mercedes-benz gls-class.

• Seating: up to 7 seats
• Available Trims: GLS 450 SUV, GLS 580 SUV, Reserve
• Length: 204.9 to 206 inches

The 2024 Mercedes-Benz GLS-Class combines grand design with thoughtful luxury for a refined driving experience minus the bulkiness often associated with larger SUVs. From the ultra-posh interior to the seemingly unlimited tech, it’s backed by a brand promise that is steeped in luxury and legacy.

“Whether you’re shuttling your heirs to boarding school or hauling home a restock of your wine cellar, the Mercedes-Benz GLS-Class has the space and refinement for such duties,” says Dorian, referencing the vehicle’s 8.5 out of 10 rating from Car and Driver.

This model year brings a refreshed look, enhanced power and a towing capacity of 7,700 lbs. Its restyled exterior is both muscular and polished, featuring a new grille and sleek LED taillamps. Inside, the GLS-Class embraces cutting-edge technology with widescreen displays and advanced interfaces that feel intuitive from the start. Passengers will delight in the expansive sunroof’s light, enjoy the ambiance of 64-color lighting and relax in ventilated front seats. Optional upgrades include massaging seats and five-zone climate control, catering to the comfort of all occupants.

The cabin exudes timeless luxury with exquisite craftsmanship. Front seats are heated, ventilated and available with massage. The second row offers similar luxuries. Even the armrests can be heated! Ionizer-purified air can soothe the whole cabin with a subtle infusion of fragrance. Safety features are comprehensive, with standard automated emergency braking and available advanced driver-assistance systems.

Test Drive Results: Reviewers noted a smooth, steady and powerful ride, with some hybridization as well as an accommodating third row and generous cargo space. But mostly they raved about the interior comforts. “The seats! I just love the seats!” said one. “Though I was surprised that Apple CarPlay and Android Auto require a wired connection.”

Standout Features and Warranty: Spacious seating for seven adults comes standard, but Mercedes-Benz offers an option to switch to six seats featuring power second-row captain’s chairs for easier third-row access, a unique feature for families with teenagers or grown children who drive with them frequently. Mercedes-Benz offers a competitive warranty, but it falls short of the extended powertrain coverage provided by Cadillac and the complimentary maintenance offered by Lincoln. Bottom Line: The 2024 Mercedes-Benz GLS-Class is a luxurious and capable SUV that prioritizes style, comfort and advanced technology. While it may not be the most efficient or sporty option in its class, it delivers a high level of luxury that is sure to satisfy those looking for an undeniably high-end family vehicle fully stocked with amenities.

2024 Marcedes-Benz GLS-Class, from $87,000 (base price)

Best Boxy SUV

2024 Ford Bronco

• Miles Per Gallon: 20/21/20 (city/highway/combined) as per EPA Fuel Economy
• Seating: 4 or 5 seats
• Available Trims: Big Bend, Black Diamond, Outer Banks, Badlands, Wildtrak, Everglades, Raptor, Heritage, Heritage Limited
• Length: 173.7 to 198.9 inches

The 2024 Ford Bronco stands out as a fun and adventurous SUV with an array of engine options, crowd-pleasing features and a noteworthy design that consumers can’t get enough of. Car pros love it too, with Car and Driver giving it a 9.5 out of 10 rating and a 2024 Editors’ Choice Award. And for the second year in a row, we’re happy to recognize it with a GH Best Family Car Award.

“The Bronco is one of the best mainstream vehicle choices for sporty families and outdoor enthusiasts,” says Dorian. “So much so that we’re willing to overlook the basic interior materials and noticeable road noise.”

The 2024 model year brings minimal design changes and more standard features on the higher trims, including a 12.0-inch infotainment screen, more drive modes, larger tires and a heavy-duty bumper. Inside, the Bronco offers a rugged yet functional cabin with innovative features like a dashboard rack for mounting devices. Storage space could be improved, and the infotainment system, while functional, may not be to everyone’s liking due to its Google-based platform.

Safety features are plentiful, with options that aid both on-road driving (like pre-collision assist with automatic emergency braking, blind spot monitoring with cross-traffic alert and lane-keeping assist) and off-road adventures (like a 360-degree camera with off-road views and hill descent control).

Test Drive Results: The Bronco provides a refined driving experience, with precise steering and the ability to tackle tough terrain. Our testing team also noted how comfortable it is for front- and second-row passengers and how versatile it is in a variety of on- and off-road conditions —not that the average family is off-roading all that often. While the Bronco comes in a two-door option, we don’t recommend it for families, as it means you sacrifice substantial convenience and cargo space. The 3,500-pound towing capacity feels limited.

Standout Features and Warranty: The roof panels (whether fabric or hard plastic) and the doors come off, creating a convertible-like experience in an SUV, which is really special and highly recommended! Ford’s warranty is standard for the category, but the absence of complimentary maintenance may be a downside for some buyers. Bottom Line: The Ford Bronco is a top pick for those seeking adventure, combining off-road prowess with urban drivability and distinctive style.

Best Luxury Boxy SUV

2024 Land Rover Defender 130

• Miles Per Gallon: 17/21/19 (city/highway/combined) as per EPA Fuel Economy
• Seating: Up to 8 seats
• Available Trims: Defender 90 S, Defender 110 SE V8, Defender 130 S
• Length: 211.7 inches

We have to admit it, we love this vehicle — and the 2024 Land Rover Defender keeps fueling our passion. A second-time winner in GH’s Best Family Cars Awards, the 130 is a superbly capable on- and off-roader that is high on substance and head-turning style.

“If you’re enamored with the idea of off-roading but can’t stomach living with an unrefined vehicle during your daily commute, consider the best-of-both-worlds Land Rover Defender,” says Dorian. It earned an 8 out of 10 rating from Car and Driver, with lower fuel efficiency being one drawback that kept it from getting a higher score.

The 2024 Defender 130 is packed with standard features and offers a range of configurations. Depending on the trim you can choose additional cargo space, various exterior customizations or a more powerful engine. The interior is both stylish and practical, with high-end materials and thoughtful tech features.

Infotainment is handled by a 10-inch touchscreen with an optional larger 11.4-inch display available. In either case, the interface is responsive, intuitive and very user-friendly. Apple CarPlay and Android Auto are standard but require a wired connection. Safety features are comprehensive, with standard automated emergency braking and available adaptive cruise control.

Test Drive Results: Whether in the city or out on trails, our testers have spent weeks at the wheel of the Defender — and we can attest that it’s a popular conversation starter at school, soccer and summer camp drop-off. The Defender’s handling is confident, and its ride is smooth and comfortable. It’s also made for tailgating thanks to its expansive cargo area and can tow up to 8,200 pounds. Next time, we’re hooking up a trailer.

Standout Features and Warranty: In the 130 the rearmost row gets its own fixed sunroof. Though it doesn’t open, it lets in additional light and provides a glimpse of the sky, which everyone needs. Land Rover’s warranty is standard for the luxury class, but it lacks the complimentary maintenance offered by some competitors. Bottom Line: The 2024 Land Rover Defender is a compelling choice for those seeking an off-road-ready SUV that also provides a luxurious and tech-filled on-road experience with added creature comforts. Its blend of capability, comfort and style makes it a winning pick.

2024 Land Rover Defender 130, from $69,100 (base price)

Best Large SUV

2024 Chevrolet Tahoe

• Miles Per Gallon: 17/15/20 (city/highway/combined) as per EPA Fuel Economy
• Available Trims: LS, LT, RST, Z71, Premier, High Country
• Length: 210.7 inches

The 2024 Chevrolet Tahoe upholds its reputation as a versatile full-size SUV that delivers a comfortable, quiet ride and a posh interior. It’s a practical choice for nearly any task — or any large, active family — and a repeat winner in GH’s Best Family Cars Awards.

“You can get a lot of bang for your buck with the Tahoe when it comes to its on-road handling and interior experience,” says Dorian. “But fuel efficiency isn’t its strong suit, so be prepared for higher fuel costs.” At Car and Driver , the 2024 model earned an 8.5 out of 10 rating and a 2024 Editors’ Choice Award.

The Tahoe remains largely unchanged for the 2024 model year. Even at the most basic trim level, though, it offers plenty of standard features. The interior is spacious and luxurious, with high-quality materials, cloth or leather seats (depending on the trim) and abundant room for passengers and cargo. Standard heated and available ventilated front seats add comfort, along with available heated second-row seats. The infotainment system features a 10.2-inch touchscreen with Apple CarPlay, Android Auto and Wi-Fi hotspot all available.

Standard safety features include lane departure warnings, lane-keeping assist, automated emergency braking, forward collision alert, a following distance indicator, front pedestrian braking and front and rear parking assistance. The Tahoe also features sliding second-row seats that can provide more room for third-row passengers and power-folding second- and third-row bench seats that allow for getting in or out more easily.

Test Drive Results: Testers remarked on the comfortable cabin and the spacious interior whether seated behind the wheel or in the back. Parallel parking took some practice, but that’s to be expected with such a large vehicle. Many appreciated the 13 different camera views available through the infotainment system that supports the Tahoe’s park-assist feature.

Standout Features and Warranty: If you have newer drivers in your household, you’ll appreciate Teen Driver mode, which gives you access to a suite of family-oriented safety measures to track and manage their driving habits when you aren’t in the vehicle. Chevrolet’s warranty is standard for the industry, but it lacks the complimentary maintenance offered by some competitors.

Bottom Line: The 2024 Chevrolet Tahoe is a compelling option for those seeking a full-size SUV that offers practicality, comfort and a good selection of standard features. It may not be the most fuel-efficient or thrilling to drive, but it delivers a high level of capability and capacity.

2024 Chevrolet Tahoe, from $56,200 (base price)

Best Luxury Large SUV

2024 cadillac escalade.

• Miles Per Gallon: 14/16/19 (city/highway/combined) as per EPA Fuel Economy
• Seating: 7 seats
• Available Trims: Luxury, Premium Luxury, Sport, Premium Luxury Platinum, Sport Platinum, V-Series
• Length: 211.9 to 227 inches (ESV)

For years, the Cadillac Escalade has prevailed as a prestigious and accomplished full-size luxury SUV thanks to its imposing stature, lavish interior and advanced technology. At almost 18 feet long and going up to 19 feet with the extended ESV model, the 2024 Escalade is the longest full-size SUV on the market. It’s an obvious choice for families who want an upscale ride to chauffeur large groups, lots of gear or both.

“If you’ve decided the Escalade is your sweet spot, our recommendation is to go big or go home,” says Dorian. “In other words, opt for the ultra-luxe Premium Luxury Platinum trim. You won’t be disappointed.” In fact, it’s unlikely that you’ll be disappointed with any trim, as the Escalade earned near-perfect scores from Car and Driver with a 9 out of 10 rating and a 2024 Editors’ Choice Award.

The 2024 Escalade’s interior is luxurious and spacious, with high-quality materials and plenty of room for passengers and cargo. The digital dashboard features a curved OLED display, providing a high-tech and visually stunning infotainment experience. Safety features are abundant, with standard automated emergency braking and available adaptive cruise control with hands-free driving mode.

Test Drive Results: It’s bigger, boxier, longer, taller and wider than most of its rivals, which poses some obvious challenges for city driving. A few GH testers noted that it wouldn’t fit in their small personal garages or the parking garages they usually parked at. Many also noted that with the bulk came the sacrifice of some driving agility and nimbleness, but the space gains outweighed the drawbacks as far as parents were concerned.

Standout Features and Warranty: Kid testers were most impressed by the available rear-seat entertainment package, which includes two 12.6-inch displays with streaming capabilities and a Wi-Fi hotspot. Cadillac’s warranty coverage is competitive, with an extended powertrain warranty. However, the complimentary maintenance is limited to the first visit.

Bottom Line: The 2024 Cadillac Escalade continues to be a top choice for those seeking a full-size luxury SUV offering a blend of opulence, technology and capability.

2024 Cadillac Escalade, from $81,895 (base price)

Best Electric SUV

2024 Kia EV9

• Miles Per Gallon: 100/78/89 (city/highway/combined) as per EPA Fuel Economy
• Estimated Range: 304 miles
• Seating: 6 or 7 seats
• Available Trims: Light RWD, Light Long Range, Wind e-AWD, Land e-AWD, GT-Line e-AWD
• Length: 197.2 to 197.4 inches

Brand new for 2024, ​​the Kia EV9 emerges as one of the first truly family-friendly electric vehicles, offering three usable rows of seating, an attractive entry price and a decent driving range.

It received exceptional praise across the board from our colleagues at Car and Driver, including a glowing 10 out of 10 rating , a 2204 10 Best Trucks and SUVs Award and a 2024 Editors’ Choice Award. “The Kia EV9 is the affordable three-row SUV that EV buyers have been waiting for, and it’s a total slam-dunk,” says Dorian.

With an exterior that borrows from and builds on Kia’s other crowd-pleasing SUV, the Telluride (also a 2024 GH Best Family Cars Award winner), the all-electric EV9 strikes a balance between the familiar and the new. The front grille and headlight styling are decidedly more futuristic than those of the Telluride, while flush door handles and matte color options help deliver an elevated look. Also, like the Telluride, the EV9 boasts a towing capacity of up to 5,000 pounds. With its dedicated trailering mode, hauling your bigger toys requires even less effort.

Interior styling and features emphasize practicality, comfort and utility. Think ample legroom in every row, easy-wipe materials, impressive storage and cargo space, a digital cockpit boasting nearly 30 inches of combined displays and more. Both the first and the second row can have heated and ventilated seats, and the second-row lounge seat option comes with comfortable headrests and leg extensions. Use your voice and Amazon Alexa for features like remote start and climate control.

Safety features include forward collision-avoidance assistance, blind spot monitoring, highway driving assist and more. Test Drive Results: GH reviewers found that neighbors and other drivers had lots of questions about the EV9 — it’s certainly a head-turning conversation starter. They noted that acceleration was swift and smooth while deceleration took some time to get used to in order to avoid any jerkiness. The gear shifter is located adjacent to the steering wheel, and one tester mentioned bumping it with their knee and accidentally shifting the vehicle into neutral during their test drive. “The cabin was notably quiet; outside road noise seemed to disappear,” said one tester.

Standout Features and Warranty: No charger, no problem. An onboard power generator can power up laptops, small appliances, outdoor projectors and even electric bikes. The EV9 also comes with 1,000 kWh of charging credits on the Electrify America network, which is equivalent to about 3,000 miles of driving range. Kia offers a 10-year or 100,000-mile limited warranty, which includes the EV9’s battery, though it doesn't include complimentary scheduled maintenance as Hyundai does.

Bottom Line: The Kia EV9 is a strong addition to the fully electric SUV segment. With a focus on utility; a comfortable, spacious interior; and a wide range of advanced technology, it’s an obvious winner for sustainability-minded families.

2024 Kia EV9, from $54,900 (base price)

Best Luxury Electric Crossover SUV

2024 Genesis Electrified GV70

• Miles Per Gallon: 236-mile range per EPA Fuel Economy
• Available Trims: Advanced, Prestige
• Length: 185.6 inches

In only its second year of production, the 2024 Genesis Electrified GV70 has improved substantially over its predecessor, which was already a great car. Now it’s a hands-down winner with an eye-catching upscale design, a spacious interior and ultra-luxe touches throughout.

”Fine materials line the Electrified GV70’s cabin, and the knurled glass shift knob looks and feels luxurious,” says Dorian. “We can only hope future model years offer a longer driving range and wireless connectivity for Apple CarPlay and Android Auto.” Still, it earned a 10 out of 10 rating from Car and Driver , a 2024 10 Best Trucks and SUVs Award and a 2024 Editors’ Choice Award

For 2024, the Electrified GV70 has had minimal changes, with all models featuring a sophisticated design, a standard Wi-Fi hot spot and a richly appointed cabin. It offers a comfortable ride and agile handling, though the brake pedal feel could be improved for a more consistent driving experience. The interior mirrors the gas GV70 with its luxurious design, high-quality materials and generous cargo space. The infotainment system is anchored by a large touch screen and comes equipped with premium options like a Lexicon stereo system.

Safety features are abundant, with automated emergency braking, lane-keeping assist and adaptive cruise control all standard. Distinctive two-line LED headlights and taillights enhance visibility in sophisticated style.

Test Drive Results: Reviewers appreciated the sleek exterior silhouette and the clever placement of the car’s charging port, which is disguised in the front grille’s honeycomb design. “We loved playing with the driver modes,” said one tester. ”It allowed us to fine-tune the already comfortable ride to our preferred style.”

Standout Features and Warranty: In addition to its no-emission promise, Electrified GV70 uses yarn made from recycled plastic bottles and nets in some parts of the cabin, including seats. Electrified GV70 owners have access to three years of complimentary 30-minute DC Fast-Charging sessions through Electrify America. Genesis offers excellent warranty coverage, including a lengthy powertrain warranty and complimentary scheduled maintenance, outpacing most luxury competitors. Bottom Line: The Electrified GV70 is a stunning, well-appointed electric crossover SUV that suits the needs of urban families with its compelling mix of style, performance and luxury.

2024 Genesis Electrified GV70, from $66,450 (base price)

Best Hybrid SUV

2024 Lexus TX Hybrid

• Miles Per Gallon: 27/28/27 (city/highway/combined) as per EPA Fuel Economy
• Seating: 6 seats
• Available Trims: TX550h F Sport Performance Premium, TX550h F Sport Performance Luxury, TX550h+ Luxury
• Length: 203.1 to 203.5 inches

New for 2024, the Lexus TX Hybrid brings more family-friendliness to the brand's lineup, with a focus on refined on-road performance and a comfortable, upscale interior. Choose from a regular hybrid or a plug-in hybrid, both of which promise dependable performance and improved fuel economy over the non-hybrid version.

“Seating for six means the TX Hybrid has room for your nuclear family plus some jump seats for two extra riders. The third row is roomy, but adults may find it lacking in the comfort department,” says Dorian. The TX Hybrid earned a 9 out of 10 rating from Car and Driver.

Picking up some exterior design elements from the larger Lexus GX, the 2024 TX Hybrid exudes a strength that imparts road-worthy confidence. Inside the cabin, you’ll find plenty of standard luxury items, including a power-adjustable steering column, power-adjustable heated front seats and ambient interior lighting. More luxurious features like ventilated seats and a heated steering wheel are available as options. A premium Mark Levinson stereo system and a giant moonroof can also be added. Infotainment is managed by a responsive 14.0-inch display running Lexus’s latest interface. Wireless Apple CarPlay and Android Auto, in-dash navigation and a wireless charging pad are standard.

Safety features are comprehensive, with standard automated emergency braking, adaptive cruise control and blind spot monitoring.

Test Drive Results: Reviewers noted a smooth and pleasant drive on city streets and highways, with reliable handling. First and second-row seats were incredibly comfortable, with ample legroom, but the third-row was tighter. “I definitely appreciated the third row when it came to carting around my kiddo and his friends,” said one tester.

Standout Features and Warranty: The power rear door has an integrated kick sensor that allows you to control it with your foot when your hands are full. Thoughtful storage cubbies are strategically placed throughout, along with a good number of USB ports. The warranty includes complimentary maintenance for one year or 10,000 miles and covers hybrid components for ten years or 150,000 miles. Bottom Line: The 2024 Lexus TX Hybrid is a strong contender for buyers seeking a midsize luxury SUV with hybrid efficiency, ample passenger space and a host of modern features that cater to families.

2024 Lexus TX Hybrid, from $69,350 (base price)

Best Minivan

2024 toyota sienna.

• Miles Per Gallon: 36/36/36 (city/highway/combined) as per EPA Fuel Economy
• Available Trims: LE, XLE, XSE, Woodland, Limited, Platinum
• Length: 204.3 inches

The 2024 Toyota Sienna, which has been hybrid-only for several model years, stands out for its class-leading fuel efficiency and spacious interior. It offers room for up to eight passengers and easy access to the rear rows, making it a practical and efficient choice for families.

“Be prepared for fewer interior configuration options than some competitors,” says Dorian. “But you’ll be rewarded with incredible fuel economy and modern convenience amenities geared toward families.” It earned a 9.5 out of 10 rating from Car and Driver and a 2024 Editors’ Choice Award.

For 2024, the Sienna sees minor updates, including a new XSE Premium trim with enhanced features and new color options. All models now feature darkened chrome headlamps. It has a segment standard towing capacity of 3,500 pounds. The all-wheel-drive option is an inexpensive upgrade that enhances its capability in various driving conditions and feels like money well spent.

Second-row seats can’t be removed as in some competitors, but they’re designed to slide backward or forward to make more room for third-row passengers or stuff in the back. Infotainment is managed by a 9.0-inch touchscreen with Apple CarPlay, Android Auto and Amazon Alexa compatibility. Higher trims offer a premium JBL audio system and additional tech features like in-dash navigation and a rear-seat entertainment system.

Safety features are comprehensive, with standard automated emergency braking, lane-keeping assist and adaptive cruise control. Our pros recommend the sporty XSE model, with its sunroof, premium audio and second-row captain’s chairs for those seeking a value-added balance of features and style.

Test Drive Results: Reviewers had a pleasant driving experience with secure handling and a smooth ride, noticing some engine noise on uphill road conditions. Many appreciated the added storage in the center console, noting that it offered a more SUV-like feel than the typical open floor plan of minivans.

Standout Features and Warranty: Front-row passengers can press a button on the touchscreen display to make a built-in microphone transmit their voice through the rear speakers so everyone onboard can hear. If you opt for second-row captain’s chairs, they have built-in ottomans for added comfort. Toyota’s warranty coverage is competitive, with complimentary scheduled maintenance for the first two years or 25,000 miles.

Bottom Line: The 2024 Toyota Sienna is a compelling choice for those seeking an efficient, family-friendly minivan with a comfortable interior and a host of standard features. While it may not offer the most luxurious ride or the most flexible interior configuration, its fuel efficiency and practicality make it a top pick.

2024 Toyota Sienna, from $37,685 (base price)

Best Station Wagon

2024 subaru outback.

• Miles Per Gallon: 26/32/28 (city/highway/combined) as per EPA Fuel Economy
• Available Trims: Base, Premium, Onyx, Limited, Touring, Onyx XT, Wilderness, Limited XT, Touring XT
• Length: 191.3 to 191.9 inches

The Subaru Outback has long earned our praise for catering to adventurous families who care about safety, versatility and reliability. With multiple GH Best Family Car Awards under its belt, a 9 out of 10 rating from Car and Driver and a 2024 Editors’ Choice Award, it continues to lead the pack in the mainstream wagon segment.

“The Outback is the wagon of choice for value-minded families with outdoorsy lifestyles — and those who just want to look that way,” says Dorian. “It’s classic, current and timeless, with rugged good looks that have barely changed in over 10 years."

For 2024, the lineup carries over mostly unchanged, with only the Wilderness trim getting minor updates to its grille and front bumper. All nine trims have standard all-wheel drive and cargo space is consistent at 32.6 cubic feet with rear seats up and 75.6 cubic feet with rear seats down. Towing capacity ranges from 2,700 to 3,500 pounds.

On the inside, functionality and utility are prioritized in line with the Outback’s unpretentious ethos. The infotainment system is intuitive, with standard wired-only Apple CarPlay and Android Auto connectivity. Leather-trimmed upholstery and a power tilt/sliding moonroof are available on some models but not the lower-end trims. Our pros like the Premium model for its balance of features and price, including key amenities like heated front seats and an 11.6-inch touchscreen.

Safety features are comprehensive, with standard automated emergency braking, adaptive cruise control and available blind-spot monitoring.

Test Drive Results: Real parents noted a reliable and straightforward drive experience, while the autos pros found that it lacked excitement. The engine can be noisy under heavy throttle, and Subaru’s continuously variable transmission (CVT) lacks the engagement of a traditional automatic or manual transmission.

Standout Features and Warranty: All trim levels come with a standard integrated roof rack with adjustable cross bars. A torque wrench for making adjustments is also included and sits in a handy storage space under the rear cargo floor. Subaru’s warranty coverage is competitive, but it lacks the complimentary scheduled maintenance offered by some rivals. In the case of Subaru, this might be less of a concern, as its lineup is known to have near-legendary reliability with many models hitting the 200,000-mile mark with just basic maintenance.

Bottom Line: The 2024 Subaru Outback Hybrid is a solid choice for those seeking an efficient, family-friendly vehicle with off-road capability and a comfortable interior. While it may not offer the most thrilling drive, its fuel efficiency and practicality make it a top pick in the segment.

2024 Subaru Outback, from $28,895 (base price)

Best Luxury Station Wagon

2024 volvo v90 cross country.

• Miles Per Gallon: 22/29/25 (city/highway/combined) as per EPA Fuel Economy
• Available Trims: Plus, Ultimate
• Length: 195.2 inches

In a world dominated by SUVs, the 2024 Volvo V90 Cross Country stands out as an enticing upmarket alternative with notable advantages: Think handsome design, plentiful cargo space and an elegant cabin. Of course, Volvo is also synonymous with safety and sophisticated Scandinavian style. In back-to-back years we’ve honored it with a GH Best Family Cars Award, and Car and Driver gave this year's model an 8.5 out of 10 rating plus a 2024 Editors’ Choice Award.

“The V90 Cross Country’s blend of elegance and practicality make it a standout choice for families seeking a vehicle that holds its own at summer camp drop-off or the country club,” says Dorian. “Nothing in its segment beats its cabin for comfort or available amenities.”

For 2024, the V90 Cross Country remains largely unchanged with standard all-wheel drive and two main trims to choose from. (On behalf of car buyers everywhere, thank you, Volvo for simplifying the decision-making process!) Our pros like the Ultimate trim for its most luxurious features like Nappa leather upholstery and a head-up display, but the added $10K+ it costs might not appeal to everyone. Fuel economy is decent for the regular gasoline models; if you upgrade to the plug-in hybrid Recharge, it increases to 58 mpg combined city and highway — more than double!

The interior offers a host of high-quality materials and an understated contemporary design. Cargo space is ample but not the largest in the wagon class, giving it more legroom for passengers. A 9-inch vertically oriented touchscreen is integrated into the dash. Bluetooth connectivity and in-car Wi-Fi are also standard.

Safety features are abundant with standard automated emergency braking, lane-keeping assist and adaptive cruise control with a semi-autonomous driving mode.

Test Drive Results: The V90 Cross Country delivers a comfortable and competent driving experience, although it may not match the sportiness of some pricier rivals. The cabin is quiet and serene, and reviewers noted an “instant sense of calm” whether they were driving or just along for the ride.

Standout Features and Warranty: Google is seamlessly integrated into the infotainment system for easy access to maps, voice commands and music. Volvo’s warranty coverage is competitive, and the brand offers the longest period of complimentary scheduled maintenance in its class. Bottom Line: The 2024 Volvo V90 Cross Country is an elegant and well-crafted luxury wagon that offers a unique alternative to traditional SUVs. Its combination of style, comfort, and efficiency, along with a host of standard safety features, makes it a top pick for discerning buyers who value practicality but don’t want to sacrifice luxury.

2024 Volvo V90 Cross Country, from $59,800 (base price)

Best Pickup Truck

2024 ram 1500.

• Miles Per Gallon: 20/26/23 (city/highway/combined) as per EPA Fuel Economy
• Seating: 5 or 6 seats
• Available Trims: Tradesman, Tradesman HFE, Big Horn, Lone Star, Laramie, Rebel, Limited Longhorn, Limited
• Length: 228.9 to 241.8 inches

Suburban and rural families might have a greater need for a large pickup than urban families, but almost anybody can appreciate the higher sight lines and unmatched cargo space you get with one, so we like to include some top-tested winning picks in our Best Family Cars Awards even if this is a less common family vehicle.

Like its predecessors, the 2024 Ram 1500 merges capability with comfort, offering an array of engines, a high-quality cabin and superior ride quality. “The Ram 1500 is a truck that exists at the intersection of elbow grease and indulgence, combining capability and comfort in a way its rivals can’t quite match,” says Dorian. It checked all the boxes for Car and Driver , earning a 10 out of 10 rating , a spot on the 2024 10 Best Trucks and SUVs list and a 2024 Editors’ Choice Award. It's also a multiyear winner for GH.

For the 2024 model year, the Ram 1500 is largely unchanged. If you wait for the 2025 model year (reportedly available any day now and not yet tested by GH), you’ll be treated to a fresh new look and impressive upgrades. The 2024 Ram 1500 offers eight configurations to fit various needs. Our pros like the Laramie and Rebel trims for their mix of features and affordability, with the Rebel offering additional off-road capabilities. Towing capacity is substantial.

The interior is one of the best in its class, with car-like detailing and lots of smart storage. Infotainment is handled by a responsive touchscreen system, with Apple CarPlay and Android Auto compatibility. The available 14.5-inch display and passenger-side screen add to the truck's tech-forward approach.

Safety features are abundant, with standard automated emergency braking and available adaptive cruise control with hands-free driving mode.

Test Drive Results: Most GH testers marveled at the experience of driving a truck. But the pros were more practical, commenting on the impressive handling and the spacious, quiet interior.

Standout Features and Warranty: We appreciate innovative features like the split-folding tailgate and locking compartments built into the side of the pickup bed. If you tow anything, you’ll appreciate the available trailer reverse steering assistance function, which takes over controlling the truck’s steering wheel so you can steer the trailer with the trailer steering knob. Ram’s warranty coverage is standard for the industry, but the lack of complimentary scheduled maintenance is a notable omission compared with some rivals.

Bottom Line: The 2024 Ram 1500 offers a compelling blend of comfort, technology and capability. While it may not be the most fuel-efficient or the most capable in terms of towing, its luxurious interior and smooth ride make it an attractive option for those seeking a full-size pickup truck that can double as a family vehicle or a mobile office.

2024 Ram 1500, from $39,420 (base price)

Best Electric Pickup

2024 Ford F-150 Lightning

• Miles Per Gallon: Up to 320-mile range as per EPA Fuel Economy
• Available Trims: PRO, XLT, Flash, Lariat, Platinum, Limited-Edition Platinum Black
• Length: 231.7 inches

The Ford F-150 Lightning brings style and strong performance to the seemingly exploding full-size electric pickup truck segment at a palatable price. ‘The Lightning is a superior version of an already good vehicle, with improved acceleration, strong road manners and a head-turning presence,” says Dorian. “Its spacious cabin and abundant storage make it a practical choice for a variety of families.” At Car and Driver , it earned a 9 out of 10 rating and a 2024 Editors’ Choice Award.

For 2024, the F-150 Lightning has gotten only minor updates, mostly with new upscale trim packages. While towing capacity maxes out at 10,000 pounds, hauling large loads over long distances has the potential to impact range negatively. Our experts recommend the Flash trim for its combination of features, including the larger infotainment screen, the extended-range battery and the Blue Cruise hands-free driving system.

The interior of the F-150 Lightning is similar to that of the traditional F-150. Infotainment is handled by a standard 12.0-inch touchscreen with Ford’s Sync 4 software, with a larger 15.5-inch display available on higher trims. Safety features are comprehensive, with standard automated emergency braking and available adaptive cruise control with hands-free driving mode.

Test Drive Results: Part of our test drive involved navigating narrow city streets, going onto highways and then winding through rural towns to visit a Christmas tree farm several hours away. Not only did this provide us with a great chance to get familiar with the vehicle in a variety of road conditions but we were also able to cut down a fresh tree and haul it back to the city in the massive cargo area. The F-150 Lightning stood out in every aspect, with impressive power and easy-to-use instrumentation.

Standout Features and Warranty: The battery is big enough that when the Lightning is fully charged it can act as a power source for your tools, other EVs and even your house in a blackout. The massive frunk can hold up to a whopping 400 pounds. Ford’s warranty coverage is standard for the industry, but the electric vehicle components receive an eight-year/100,000-mile policy. No complimentary scheduled maintenance is included.

Bottom Line: The 2024 Ford F-150 Lightning offers an enticing mix of electric performance, pickup practicality and advanced technology. While it may not be the most affordable option and has some towing limitations, it reinforces Ford’s ability to innovate within its bestselling truck lineup and makes a strong case for the transition to electric.

2024 Ford F-150 Lightning, from $49,995 (base price)

How We Tested

Each year, we drive tens of thousands of miles on varied terrains and differing climates to ensure that the vehicles we're selecting are high-value, family-friendly vehicles.

We review safety ratings to help ensure that you can get safely from Point A to Point B, but we also take into account performance, comfort, technology and other amenities. This past year alone, our team assessed hundreds of car seat attachments, counted thousands of USB ports, loaded innumerable bags and gear into cargo areas, vacuumed the crevices of dozens of cars, and paired and unpaired each vehicle with Apple CarPlay or Android Auto where applicable. We also measured rearview mirrors and legroom, lowered and raised rear seats and waited at public EV charging stations, and the list goes on.

Here, more details on how we evaluate vehicles:

PERFORMANCE:

✔️ Transmission : We note the smoothness and reaction time of transmissions. Many are good while cruising, but we take note of how they work under varied loads (intermittent passing, mid-speed turns, etc.). We look not only at how responsive the transmissions are, but also at how well the computer is able to select the appropriate (upshift, downshift, CVT RPM range) gear.

✔️ Visibility: We evaluate each car’s forward-facing, side and rear visibility to see where blind spots (if any) are located.

✔️ Handling and maneuverability : After driving dozens of vehicles for hundreds of miles, we assess how nimble they are: the more maneuverable, the better!

✔️ Smoothness over bumps: We assess how well a vehicle can deal with bumps and potholes in the road without obtrusive noise.

✔️ Parking/Turning radius: We check the ability to park the car in a space that is approximately 19 feet long.

✔️ Ease of getting in and out: Low sports cars can require the driver to roll out of their seat to exit the vehicle, while higher-set cars such as crossovers make exiting more akin to getting out of a chair or stepping down from a stool. This factor is very important for the elderly and people with disabilities, and it is something we are mindful of while performing our evaluations.

✔️ Cupholders and console layout: Our analysts evaluate the position and layout of the cupholders and console controls with respect to the driver’s position. Are they easy to reach for the driver? Design focused on the driver is important in this scoring category.

✔️ Trunk space: We look at the size and usability of rear trunk space. Storage nets, spare tire placement and freedom from intrusions (e.g., from wheel wells, asymmetry, etc.) are also considered.

✔️ Car seat installation: We account for the location and accessibility of anchor points and other space requirements that make some cars easier to install car seats in than others.

✔️ Interior storage layout: Our team assesses the thoughtfulness of storage options throughout the car, taking into account overhead storage options, center console storage, door storage, back-of-seat storage and adequacy of cupholder options.

✔️ General comfort: We assess the general comfort in both the first and the second rows. We consider the ease of entering and exiting the second row, overall use of space and center legroom.

INFOTAINMENT:

✔️ Ease of connecting a phone: We evaluate the phone system for the simplicity of Bluetooth or other setups, the ease of placing a call, the accessibility of controls and overall integration.

✔️ Display of infotainment: The media display placement is evaluated based on its clarity and orientation to the driver so as to obstruct their view or draw their attention away from the road. In the case of touch screens, whether the screen is within reach is considered. The primary display is evaluated for clarity, size, placement and field of view; the likeliness of obstruction by hands based on standard 10/2 placement' and the range of options. Good primary displays have large-font speedometers and are easy for the driver to see without taking their eyes off the road.

✔️ HVAC controls: The layout of the heating, ventilation and air conditioning is evaluated for its placement, simplicity and isolation from other controls that could be confused with them.

✔️ Steering wheel controls: Steering wheel controls (e.g. audio, media, voice and phone commands, cruise control, etc.) are rated more positively for clear placement, accurate symbols or words and categorization.

✔️ Exterior controls: Exterior controls (e.g., windshield wipers, lights, cruise control, etc.) are evaluated for their accessibility (both dash- and steering wheel-mounted, when applicable), function/usefulness, and responsiveness (in the case of touch screens).

TRACK TESTING:

We are privileged to leverage the expertise and authority of the brilliant team at Car and Driver (also owned by our parent company, Hearst) to help support all our picks. This team has track-tested all the cars and performed both regimented and long-term rides and can attest to the reliability and practicality of these vehicles. They can provide us with metrics on acceleration, passing acceleration, noise while cruising and idle, braking and road holding. All of our winners have earned an 8 out of 10 or higher rating from Car and Driver .

Laurie Jennings (she/her) is the general manager of the Good Housekeeping Institute , where she oversees business and editorial strategy, leading a team of scientists, consumer product specialists and editorial experts that tests products, creates science-backed content, reports on consumer behavior, assesses items for the GH Seal and much more. Laurie is a sought-after speaker for CES, SXSW and the Global Wellness Summit and a judge for awards from ASME and Digiday. As a HearstLab Scout, she screens startups for investment by Hearst.

Drew Dorian is a lifelong car enthusiast who has also held a wide variety of consumer-focused positions throughout his career, ranging from financial counselor to auto salesperson. He has dreamed of becoming a Car and Driver editor since he was 11 years old—a dream that was realized when he joined the staff in April 2016. He’s a born-and-raised Michigander and learned to drive on a 1988 Pontiac Grand Am. His automotive interests run the gamut from convertibles and camper vans to sports cars and luxury SUVs.      

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