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

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17 Author(s)
Güvenç, L. ; Mekar Labs., Istanbul Okan Univ., Istanbul, Turkey ; Uygan, I.M.C. ; Kahraman, K. ; Karaahmetoglu, R.
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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.

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Intelligent Transportation Systems, IEEE Transactions on  (Volume:13 ,  Issue: 3 )