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A Modular CACC System Integration and Design
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DOI：10.1109/TITS.2012.2204877.png)
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This paper describes the Halmstad University entry in the Grand Cooperative Driving Challenge, which is a competition in vehicle platooning. Cooperative platooning has the potential to improve traffic flow by mitigating shock wave effects, which otherwise may occur in dense traffic. A longitudinal controller that uses information exchanged via wireless communication with other cooperative vehicles to achieve string-stable platooning is developed. The controller is integrated into a production vehicle, together with a positioning system, communication system, and human-machine interface (HMI). A highly modular system architecture enabled rapid development and testing of the various subsystems. In the competition, which took place in May 2011 on a closed-off highway in The Netherlands, the Halmstad University team finished second among nine competing teams.
Keyword:
Cooperative adaptive cruise control (CACC)
cooperative systems
Grand Cooperative Driving Challenge (GCDC)
platooning
vehicle-to-vehicle communication (V2V)
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