{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2021:6A4FW6QUHG2U5TV5AMV4W6UG5R","short_pith_number":"pith:6A4FW6QU","schema_version":"1.0","canonical_sha256":"f0385b7a1439b54ecebd032bcb7a86ec7f45b5e81a36c2357113efe40e5c3bf8","source":{"kind":"arxiv","id":"2104.07726","version":2},"attestation_state":"computed","paper":{"title":"Significance of Low-level Controller for String Stability under Adaptive Cruise Control","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"Anye Zhou, Danjue Chen, Hao Zhou, Jorge Laval, Srinivas Peeta, Tienan Li","submitted_at":"2021-04-15T19:14:33Z","abstract_excerpt":"Current commercial adaptive cruise control (ACC) systems consist of an upper-level planner controller that decides the optimal trajectory that should be followed, and a low-level controller in charge of sending the gas/brake signals to the mechanical system to actually move the vehicle. We find that the low-level controller has a significant impact on the string stability (SS) even if the planner is string stable: (i) a slow controller deteriorates the SS, (ii) slow controllers are common as they arise from insufficient control gains, from a \"weak\" gas/brake system or both, and (iii) the integ"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2104.07726","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2021-04-15T19:14:33Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"b5712920123471624287673e5cc89f84196994f1d7edf950bf18933afa7a355b","abstract_canon_sha256":"05dfd3108275dff4acf4b3b1011bd819ac969b3bc624f9c04f29f01ed7123149"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T02:58:41.440917Z","signature_b64":"DfxKM8YhZYLRsgaksmbhLp8LCHr5muEqxwHyCVO0C2uSmsaSHCG+ntB7yZs2whuoGFGjO/cXwGT+HY7krKrIBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f0385b7a1439b54ecebd032bcb7a86ec7f45b5e81a36c2357113efe40e5c3bf8","last_reissued_at":"2026-07-05T02:58:41.440354Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T02:58:41.440354Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Significance of Low-level Controller for String Stability under Adaptive Cruise Control","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"Anye Zhou, Danjue Chen, Hao Zhou, Jorge Laval, Srinivas Peeta, Tienan Li","submitted_at":"2021-04-15T19:14:33Z","abstract_excerpt":"Current commercial adaptive cruise control (ACC) systems consist of an upper-level planner controller that decides the optimal trajectory that should be followed, and a low-level controller in charge of sending the gas/brake signals to the mechanical system to actually move the vehicle. We find that the low-level controller has a significant impact on the string stability (SS) even if the planner is string stable: (i) a slow controller deteriorates the SS, (ii) slow controllers are common as they arise from insufficient control gains, from a \"weak\" gas/brake system or both, and (iii) the integ"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2104.07726","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2104.07726/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"aliases":[{"alias_kind":"arxiv","alias_value":"2104.07726","created_at":"2026-07-05T02:58:41.440421+00:00"},{"alias_kind":"arxiv_version","alias_value":"2104.07726v2","created_at":"2026-07-05T02:58:41.440421+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2104.07726","created_at":"2026-07-05T02:58:41.440421+00:00"},{"alias_kind":"pith_short_12","alias_value":"6A4FW6QUHG2U","created_at":"2026-07-05T02:58:41.440421+00:00"},{"alias_kind":"pith_short_16","alias_value":"6A4FW6QUHG2U5TV5","created_at":"2026-07-05T02:58:41.440421+00:00"},{"alias_kind":"pith_short_8","alias_value":"6A4FW6QU","created_at":"2026-07-05T02:58:41.440421+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":1,"internal_anchor_count":1,"sample":[{"citing_arxiv_id":"2411.16937","citing_title":"Traffic Wave Properties for Automated Vehicles During Traffic Oscillations via Analytical Approximations","ref_index":28,"is_internal_anchor":true}]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/6A4FW6QUHG2U5TV5AMV4W6UG5R","json":"https://pith.science/pith/6A4FW6QUHG2U5TV5AMV4W6UG5R.json","graph_json":"https://pith.science/api/pith-number/6A4FW6QUHG2U5TV5AMV4W6UG5R/graph.json","events_json":"https://pith.science/api/pith-number/6A4FW6QUHG2U5TV5AMV4W6UG5R/events.json","paper":"https://pith.science/paper/6A4FW6QU"},"agent_actions":{"view_html":"https://pith.science/pith/6A4FW6QUHG2U5TV5AMV4W6UG5R","download_json":"https://pith.science/pith/6A4FW6QUHG2U5TV5AMV4W6UG5R.json","view_paper":"https://pith.science/paper/6A4FW6QU","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2104.07726&json=true","fetch_graph":"https://pith.science/api/pith-number/6A4FW6QUHG2U5TV5AMV4W6UG5R/graph.json","fetch_events":"https://pith.science/api/pith-number/6A4FW6QUHG2U5TV5AMV4W6UG5R/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/6A4FW6QUHG2U5TV5AMV4W6UG5R/action/timestamp_anchor","attest_storage":"https://pith.science/pith/6A4FW6QUHG2U5TV5AMV4W6UG5R/action/storage_attestation","attest_author":"https://pith.science/pith/6A4FW6QUHG2U5TV5AMV4W6UG5R/action/author_attestation","sign_citation":"https://pith.science/pith/6A4FW6QUHG2U5TV5AMV4W6UG5R/action/citation_signature","submit_replication":"https://pith.science/pith/6A4FW6QUHG2U5TV5AMV4W6UG5R/action/replication_record"}},"created_at":"2026-07-05T02:58:41.440421+00:00","updated_at":"2026-07-05T02:58:41.440421+00:00"}