Design and Experimental Validation of a Cooperative Driving System in the Grand Cooperative Driving Challenge

In this paper, we present the Cooperative Adaptive Cruise Control (CACC) architecture, which was proposed and implemented by the team from Chalmers University of Technology, Göteborg, Sweden, that joined the Grand Cooperative Driving Challenge (GCDC) in 2011. The proposed CACC architecture consists...

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Bibliographic Details
Published in:IEEE transactions on intelligent transportation systems Vol. 13; no. 3; pp. 994 - 1007
Main Authors: Kianfar, Roozbeh, Augusto, Bruno, Ebadighajari, Alireza, Hakeem, Usman, Nilsson, Josef, Raza, Ali, Tabar, Reza S., Irukulapati, Naga VishnuKanth, Englund, Cristofer, Falcone, Paolo, Papanastasiou, Stylianos, Svensson, Lennart, Wymeersch, Henk
Format: Journal Article
Language:English
Published: IEEE 01.09.2012
Subjects:
Automatic control
cooperative driving
Cooperative systems
multivehicle formations
Road safety
Road vehicles
Sensor fusion
vehicle platoons
vehicle-to-infrastructure (V2I)
vehicle-to-vehicle (V2V)
Wireless communication
ISSN:1524-9050, 1558-0016, 1558-0016
Online Access:Get full text
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Summary:In this paper, we present the Cooperative Adaptive Cruise Control (CACC) architecture, which was proposed and implemented by the team from Chalmers University of Technology, Göteborg, Sweden, that joined the Grand Cooperative Driving Challenge (GCDC) in 2011. The proposed CACC architecture consists of the following three main components, which are described in detail: 1) communication; 2) sensor fusion; and 3) control. Both simulation and experimental results are provided, demonstrating that the proposed CACC system can drive within a vehicle platoon while minimizing the inter-vehicle spacing within the allowed range of safety distances, tracking a desired speed profile, and attenuating acceleration shockwaves.
ISSN:1524-9050
1558-0016
1558-0016
DOI:10.1109/TITS.2012.2186513