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

Güvenç, L, Uygan, IMC, Kahraman, K, Karaahmetoglu, R, Altay, I, Sentürk, M, Emirler, MT, Hartavi Karci, AE, Aksun Güvenç, B, Altug, E , Turan, MC, Tas, OS, Bozkurt, E, Özgüner, U, Redmill, K, Kurt, A and Efendioglu, B (2012) Cooperative Adaptive Cruise Control Implementation of Team Mekar at the Grand Cooperative Driving Challenge IEEE Transactions on Intelligent Transportation Systems.

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Abstract

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.

Item Type: Article
Authors :
NameEmailORCID
Güvenç, LUNSPECIFIEDUNSPECIFIED
Uygan, IMCUNSPECIFIEDUNSPECIFIED
Kahraman, KUNSPECIFIEDUNSPECIFIED
Karaahmetoglu, RUNSPECIFIEDUNSPECIFIED
Altay, IUNSPECIFIEDUNSPECIFIED
Sentürk, MUNSPECIFIEDUNSPECIFIED
Emirler, MTUNSPECIFIEDUNSPECIFIED
Hartavi Karci, AEa.hartavikarci@surrey.ac.ukUNSPECIFIED
Aksun Güvenç, BUNSPECIFIEDUNSPECIFIED
Altug, EUNSPECIFIEDUNSPECIFIED
Turan, MCUNSPECIFIEDUNSPECIFIED
Tas, OSUNSPECIFIEDUNSPECIFIED
Bozkurt, EUNSPECIFIEDUNSPECIFIED
Özgüner, UUNSPECIFIEDUNSPECIFIED
Redmill, KUNSPECIFIEDUNSPECIFIED
Kurt, AUNSPECIFIEDUNSPECIFIED
Efendioglu, BUNSPECIFIEDUNSPECIFIED
Date : 20 July 2012
Identification Number : 10.1109/TITS.2012.2204053
Depositing User : Symplectic Elements
Date Deposited : 17 May 2017 13:34
Last Modified : 17 May 2017 15:11
URI: http://epubs.surrey.ac.uk/id/eprint/839701

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