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

2012; Institute of Electrical and Electronics Engineers; Volume: 13; Issue: 3 Linguagem: Inglês

10.1109/tits.2012.2204053

1558-0016

Levent Güvenç, İsmail Meriç Can Uygan, Kerim Kahraman, Raif Karaahmetoglu, İlker Altay, Mutlu Şentürk, Mümin Tolga Emirler, Ahu Ece Hartavi Karcı, Bilin Aksun Güvenç, Erdinç Altuğ, Murat Can Turan, Ömer Şahin Taş, Eray Bozkurt, Ümi̇t Özgüner, Keith Redmill, Arda Kurt, Barış Efendioğlu,

Vehicular Ad Hoc Networks (VANETs)

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.