Experimental evaluation of a co-operative driving setup based on inter-vehicle communication
conference paper
This paper discussesfield experiments conducted to evaluate a co-operativelongitudinal controller for a cluster of vehicles with inter-vehicle communication (IVC).The controller can actively control throttle, brake and gears of the used vehicles inorder to realize a smooth trafficflow. For this purpose it uses two loops; the outer loopcomputes a desired acceleration, which the inner loop uses as a reference. The outer loopuses acceleration, velocity and position information from the own vehicle and precedingvehicles. This information is obtained by a DGPS-based Extended Kalman Filter (EKF).Real-life experiments have been performed on a closed test track. These experimentsinvolved three vehicles of which the two rear vehicles had to anticipate automatically onthe longitudinal manoeuvres of the front vehicle.
Topics
TNO Identifier
953734
ISSN
14746670
Publisher
IFAC Secretariat
Source title
IFAC Proceedings Volumes
Pages
126-131
Files
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