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, Mechatronics

Bruno Augusto

Chalmers, Signals and Systems, Systems and control, Mechatronics

Alireza Ebadighajari

Chalmers, Signals and Systems

Usman Hakeem

Chalmers, Signals and Systems

Josef Nilsson

SAFER, The Vehicle and Traffic Safety Centre

Chalmers, Signals and Systems, Systems and control, Mechatronics

Ali Raza

Chalmers, Signals and Systems

Reza S. Tabar

Chalmers, Signals and Systems

Naga Vishnukanth Irukulapati

Chalmers, Signals and Systems, Communication and Antenna Systems, Communication Systems

Cristofer Englund

Paolo Falcone

Chalmers, Signals and Systems, Systems and control, Mechatronics

Stylianos Papanastasiou

Chalmers, Signals and Systems, Communication and Antenna Systems, Communication Systems

Lennart Svensson

Chalmers, Signals and Systems, Signalbehandling och medicinsk teknik, Signal Processing

Henk Wymeersch

Chalmers, Signals and Systems, Communication and Antenna Systems, Communication Systems

IEEE Transactions on Intelligent Transportation Systems

1524-9050 (ISSN)

Vol. 13 3 994-1007

Driving Forces

Sustainable development

Areas of Advance

Transport

Subject Categories

Electrical Engineering, Electronic Engineering, Information Engineering

DOI

10.1109/TITS.2012.2186513

More information

Created

10/6/2017