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Cooperative Adaptive Cruise Control Implementation of Team Mekar at the Grand Cooperative Driving Challenge
By: Guvenc, L.; Uygan, I. M. C.; Efendioglu, B.; Kurt, A.; Redmill, K.; Ozguner, U.; Bozkurt, E.; Tas, O. S.; Turan, M. C.; Altug, E.; Aksun Guvenc, B. Aksun.; Hartavi Karci, A. E.; Kahraman, K.; Karaahmetoglu, R.; Altay, I.; Senturk, M.; Emirler, M. T.;
2012 / IEEE
This item was taken from the IEEE Periodical ' 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 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.