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
DOI
https://doi.org/10.1016/S1474-6670(17)31962-6
ISSN
14746670
Publisher
IFAC Secretariat
Source title
IFAC Proceedings Volumes
Pages
126-131
Files
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