A Modular CACC System Integration and Design

• Published in: IEEE transactions on intelligent transportation systems 2012-09, Vol.13 (3), p.1050-1061
• Main Authors: Lidström, Kristoffer, Sjöberg, Katrin, Holmberg, Ulf, Andersson, Johan, Bergh, Fredrik, Bjäde, Mattias, Mak, Spencer
• Format: Article
• Language: English
• Subjects: Cooperative adaptive cruise control; Cooperative adaptive cruise control (CACC); Cooperative systems; GCDC; grand cooperative driving challenge; Grand Cooperative Driving Challenge (GCDC); platooning; Road vehicles; User interfaces; V2V communication; vehicle-to-vehicle communication (V2V); Wireless communication
• ISSN: 1524-9050; 1558-0016; 1558-0016
• DOI: 10.1109/TITS.2012.2204877

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.