Title :
Design and Experimental Validation of a Cooperative Driving System in the Grand Cooperative Driving Challenge
Author :
Kianfar, Roozbeh ; Augusto, Bruno ; Ebadighajari, Alireza ; Hakeem, Usman ; Nilsson, Johan ; Raza, Arif ; Tabar, Reza S. ; Irukulapati, Naga V. ; Englund, Cristofer ; Falcone, Paolo ; Papanastasiou, Stylianos ; Svensson, Lars ; Wymeersch, Henk
Author_Institution :
Dept. of Signals & Syst., Chalmers Univ. of Technol., Goteborg, Sweden
Abstract :
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.
Keywords :
acceleration control; position control; road traffic control; sensor fusion; velocity control; CACC architecture; Chalmers University of Technology; Goteborg; Grand Cooperative Driving Challenge; Sweden; acceleration shockwave attenuation; communication component; control component; cooperative adaptive cruise control; cooperative driving system; inter-vehicle spacing; safety distance; sensor fusion component; speed profile; vehicle platoon; Automatic control; Cooperative systems; Road safety; Road vehicles; Sensor fusion; Wireless communication; Automatic control; cooperative driving; multivehicle formations; sensor fusion; vehicle platoons; vehicle-to-infrastructure (V2I); vehicle-to-vehicle (V2V);
Journal_Title :
Intelligent Transportation Systems, IEEE Transactions on
DOI :
10.1109/TITS.2012.2186513
