Cooperative Adaptive Cruise Control Implementation of Team Mekar at the Grand Cooperative Driving Challenge

This paper presents the cooperative adaptive cruise control implementation of Team Mekar at the Grand Cooperative Driving Challenge (GCDC). The Team Mekar vehicle used a dSpace microautobox for access to the vehicle controller area network bus and for control of the autonomous throttle intervention...

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Bibliographic Details
Published in:	IEEE transactions on intelligent transportation systems Vol. 13; no. 3; pp. 1062 - 1074
Main Authors:	Güvenç, Levent, Uygan, Ismail Meriç Can, Kahraman, Kerim, Karaahmetoglu, Raif, Altay, Ilker, Sentürk, Mutlu, Emirler, Mümin Tolga, Karci, Ahu Ece Hartavi, Güvenç, Bilin Aksun, Altug, Erdinç, Turan, Murat Can, Tas, Ömer Sahin, Bozkurt, Eray, Özgüner, Ümit, Redmill, Keith, Kurt, Arda, Efendioglu, Baris
Format:	Journal Article
Language:	English
Published:	IEEE 01-09-2012
Subjects:	Cooperative adaptive cruise control (CACC) Cooperative systems Road vehicles Vehicle dynamics vehicle-to-vehicle (V2V) communication Wireless communication
Online Access:	Get full text
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Summary:	This paper presents the cooperative adaptive cruise control implementation of Team Mekar at the Grand Cooperative Driving Challenge (GCDC). The Team Mekar vehicle used a dSpace microautobox for access to the vehicle controller area network bus and for control of the autonomous throttle intervention and the electric-motor-operated brake pedal. The vehicle was equipped with real-time kinematic Global Positioning System (RTK GPS) and an IEEE 802.11p modem installed in an onboard computer for vehicle-to-vehicle (V2V) communication. The Team Mekar vehicle did not have an original-equipment-manufacturer-supplied adaptive cruise control (ACC). ACC/Cooperative adaptive cruise control (CACC) based on V2V-communicated GPS position/velocity and preceding vehicle acceleration feedforward were implemented in the Team Mekar vehicle. This paper presents experimental and simulation results of the Team Mekar CACC implementation, along with a discussion of the problems encountered during the GCDC cooperative mobility runs.
ISSN:	1524-9050 1558-0016
DOI:	10.1109/TITS.2012.2204053