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

Guvenc, Levent; Uygan, Ismail; Kahraman, Kerim; Karaahmetoglu, Raif; Altay, Ilker; Senturk, Mutlu; Emirler, Mumin; Karci, Ahu; Guvenc, Bilin; Altuğ, Erdinç; Turan, Murat; Tas, Omer; Bozkurt, Eray; Oezguener, Uemit; Redmill, Keith; Kurt, Arda; EFENDİOĞLU, Baris

doi:10.1109/tits.2012.2204053

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

Atıf İçin Kopyala

Guvenc L., Uygan I. M. C., Kahraman K., Karaahmetoglu R., Altay I., Senturk M., ...Daha Fazla

IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, cilt.13, sa.3, ss.1062-1074, 2012 (SCI-Expanded)

Yayın Türü: Makale / Tam Makale
Cilt numarası: 13 Sayı: 3
Basım Tarihi: 2012
Doi Numarası: 10.1109/tits.2012.2204053
Dergi Adı: IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus
Sayfa Sayıları: ss.1062-1074
Yıldız Teknik Üniversitesi Adresli: Hayır

Özet

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-manufacturers-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.