# A LiDAR-Driven Fallback Longitudinal Controller for Safer Following in Sudden Braking Scenarios

arXiv: https://arxiv.org/abs/2509.16642 · HTML: https://mlsanity.com/paper/2509.16642/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 20 Sep 2025.

## Built on by (most cited first, 1 of 1)

- [Reinterpreting Safety Thresholds as Neuron Spiking Thresholds](https://mlsanity.com/paper/2605.30368/) (2026)

## Abstract (arXiv)

Adaptive Cruise Control has seen significant advancements, with Collaborative Adaptive Cruise Control leveraging Vehicle-to-Vehicle communication to enhance coordination and stability. However, the reliance on stable communication channels limits its reliability. Research on reducing information dependencies in Adaptive Cruise Control systems has remained limited, despite its critical role in mitigating collision risks during sudden braking scenarios. This study proposes a novel fallback longitudinal controller that relies solely on LiDAR-based distance measurements and the velocity of a follower vehicle. The controller is designed to be time-independent, ensuring operation in the presence of sensor delays or synchronization issues. Simulation results demonstrate that the proposed controller enables vehicle-following from standstill and prevents collisions during emergency braking, even under minimal onboard information.