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

Güvenç, Levent; Uygan, Ismail Meric Can; Kahraman, Kerim; Karaahmetoglu, Raif; Altay, İlker; Şentürk, Mutlu; Emirler, Mümin Tolga; Karci, Ahu Ece Hartavi; Güvenç, Bilin Aksun; Altuğ, Erdinç; Turan, Murat Can; Taş, Ömer Şahin; Bozkurt, Eray; Özgüner, Ü.; Redmill, Keith; Kurt, Arda; Efendioglu, Baris

doi:10.1109/tits.2012.2204053

Cited by 95 publications

(39 citation statements)

References 15 publications

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“…This competition revealed some of the most important problems to be solved before bringing this technology into production, including the communication systems reliability. From the control point of view, most of the implementations were based on proportional, proportional-derivative feedback/feedforward controllers [13], [14], [15] or Model Predictive Control (MPC) techniques [16], [17].…”

Section: Introductionmentioning

confidence: 99%

Cooperative Adaptive Cruise Control in Real Traffic Situations

Milanés

Shladover

Spring

et al. 2014

IEEE Trans. Intell. Transport. Syst.

893

429

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Abstract-Intelligent vehicle cooperation based on reliable communication systems contributes not only to reducing traffic accidents, but also to improving traffic flow. Adaptive Cruise Control (ACC) systems can gain enhanced performance by adding vehicle-vehicle wireless communication to provide additional information to augment range sensor data, leading to Cooperative ACC (CACC). This paper presents the design, development, implementation and testing of a CACC system. It consists of two controllers, one to manage the approaching maneuver to the leading vehicle and the other to regulate car-following once the vehicle joins the platoon. The system has been implemented on four production Infiniti M56s vehicles, and this paper details the results of experiments to validate the performance of the controller and its improvements with respect to the commercially available ACC system.

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Section: Introductionmentioning

confidence: 99%

Cooperative Adaptive Cruise Control in Real Traffic Situations

Milanés

Shladover

Spring

et al. 2014

IEEE Trans. Intell. Transport. Syst.

893

429

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show abstract

“…It shall be noted that the accuracy of the relative position parameters are very critical for vehicle platooning implementation, especially for the communicated-GPS-only platoon system [143]. Many related studies have been focusing on improve the GPS precision.…”

Section: A Deployment Of Platoon-based Driving Patternmentioning

confidence: 99%

A Survey on Platoon-Based Vehicular Cyber-Physical Systems

Jia

Wang

et al. 2016

IEEE Commun. Surv. Tutorials

635

273

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Abstract-Vehicles on the road with some common interests can cooperatively form a platoon-based driving pattern, in which a vehicle follows another one and maintains a small and nearly constant distance to the preceding vehicle. It has been proved that, compared to driving individually, such a platoon-based driving pattern can significantly improve the road capacity and energy efficiency. Moreover, with the emerging vehicular adhoc network (VANET), the performance of platoon in terms of road capacity, safety and energy efficiency, etc., can be further improved. On the other hand, the physical dynamics of vehicles inside the platoon can also affect the performance of VANET. Such a complex system can be considered as a platoon-based vehicular cyber-physical system (VCPS), which has attracted significant attention recently. In this paper, we present a comprehensive survey on platoon-based VCPS. We first review the related work of platoon-based VCPS. We then introduce two elementary techniques involved in platoon-based VCPS: the vehicular networking architecture and standards, and traffic dynamics, respectively. We further discuss the fundamental issues in platoon-based VCPS, including vehicle platooning/clustering, cooperative adaptive cruise control (CACC), platoon-based vehicular communications, etc., and all of which are characterized by the tight coupled relationship between traffic dynamics and VANET behaviors. Since system verification is critical to VCPS development, we also give an overview of VCPS simulation tools. Finally, we share our view on some open issues that may lead to new research directions.Index Terms-Platoon, Cyber-physical system (CPS), Vehicular ad-hoc network (VANET), Platoon-based vehicular communications, Cooperative adaptive cruise control (CACC), Simulator.

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“…Levent Guvence et al [14] have done an on road experimentation in the CACC implementation of Team Maker in the Grand Cooperative Driving Challenge (GDCC) using vehicles equipped with sensors, actuators and control units. The experimental results showed that Global Positioning System (GPS) information can be used to implement ACC and CACC.…”

Section: State Of Artmentioning

confidence: 99%

Performance analysis of fuzzy co-operative adaptive cruise controller in vehicular ad hoc networks

Cloudin¹,

Komathy²

2013

IET Chennai Fourth International Conference on Sustainable Energy and Intelligent Systems (SEISCON 2013)

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Mobility models, which determine the movement pattern of nodes communicating wirelessly, play a vital role in the simulation-based evaluation of Vehicular Ad Hoc Networks. Realistic mobility models enable us to assess the network performance more accurately, and it is required to design a realistic mobility model that mimics the real vehicle scenario. This paper made an attempt to bring out a suitable mobility model for vehicular networks, which improves the network performance in accordance with string stability, by incorporating the concept of Fuzzy Cooperative Adaptive Cruise Control mechanism among a platoon of vehicles. The experimental study and analysis find that fuzziness improves the performance of the network in terms of packet delay ratio, delay and throughput.

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

Cited by 95 publications

References 15 publications

Cooperative Adaptive Cruise Control in Real Traffic Situations

Cooperative Adaptive Cruise Control in Real Traffic Situations

A Survey on Platoon-Based Vehicular Cyber-Physical Systems

Performance analysis of fuzzy co-operative adaptive cruise controller in vehicular ad hoc networks

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