Design and Experimental Validation of a Cooperative Driving System in the Grand Cooperative Driving Challenge
Journal article, 2012
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.
Automatic control
vehicle-to-infrastructure (V2I)
multivehicle formations
vehicle platoons
sensor fusion
cooperative driving
vehicle-to-vehicle (V2V)
Author
Roozbeh Kianfar
Chalmers, Signals and Systems, Systems and control
Bruno Augusto
Chalmers, Signals and Systems, Systems and control
Alireza Ebadighajari
Chalmers, Signals and Systems
Usman Hakeem
Chalmers, Signals and Systems
Josef Nilsson
Chalmers, Vehicle and Traffic Safety Centre at Chalmers (SAFER)
Chalmers, Signals and Systems, Systems and control
Ali Raza
Chalmers, Signals and Systems
Reza S. Tabar
Chalmers, Signals and Systems
Naga Vishnukanth Irukulapati
Chalmers, Signals and Systems, Communication, Antennas and Optical Networks
Cristofer Englund
Paolo Falcone
Chalmers, Signals and Systems, Systems and control
Stylianos Papanastasiou
Chalmers, Signals and Systems, Communication, Antennas and Optical Networks
Lennart Svensson
Chalmers, Signals and Systems, Signal Processing and Biomedical Engineering
Henk Wymeersch
Chalmers, Signals and Systems, Communication, Antennas and Optical Networks
IEEE Transactions on Intelligent Transportation Systems
1524-9050 (ISSN) 1558-0016 (eISSN)
Vol. 13 3 994-1007Driving Forces
Sustainable development
Areas of Advance
Transport
Subject Categories
Electrical Engineering, Electronic Engineering, Information Engineering
DOI
10.1109/TITS.2012.2186513