Design and Experimental Validation of a Cooperative Driving System in the Grand Cooperative Driving Challenge

Abstract

In this paper, we present the Cooperative Adaptive Cruise Control (CACC) architecture, which was proposed and im- plemented by the team from Chalmers University of Technology, Göteborg, Sweden, that joined the Grand Cooperative Driving Challenge (GCDC) in 2011. The proposedCACCarchitecture con- sists of the following three main components, which are described in detail: 1) communication; 2) sensor fusion; and 3) control. Both simulation and experimental results are provided, demonstrating that the proposed CACC system can drive within a vehicle platoon while minimizing the inter-vehicle spacing within the allowed range of safety distances, tracking a desired speed profile, and attenuating acceleration shockwaves.