Abstract
In this paper, in the first half, we describe the configuration of a state estimator which enables the vehicle to know the acceleration behavior of the lead vehicle by detecting inter-vehicle distance. In order to validate the method of configuring the state estimator, we investigated it theoretically and conducted a driving test using actual vehicles. The estimated lead vehicle's state is compared with actual one (which is measured by vehicle-to-vehicle communication) and with one given by differentiating the inter-vehicle distance. In the second half, we investigated about the inter-vehicle distance control on the basis of estimated state variables. In order to follow the lead car, we devised Linear Quadratic Gaussian control system. The performance of this control is shown by simulated results.