Publication
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 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.
Research area
Systems for accident prevention and AD
Publication type
Scientific journal paper
Published in
IEEE Transactions on Intelligent Transportation Systems, 13 (3), pp. 994-1007
Project
Grand Cooperative Driving Challenge pre-study (A16)
Year of publication
2012