Browsing by Author "Karaahmetoglu, Raif"

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    Citation Count: 81
    Cooperative Adaptive Cruise Control Implementation of Team Mekar at the Grand Cooperative Driving Challenge
    (Ieee-inst Electrical Electronics Engineers inc, 2012) Guvenc, Levent; Uygan, Ismail Meric Can; Kahraman, Kerim; Karaahmetoglu, Raif; Altay, Ilker; Senturk, Mutlu; Efendioglu, Baris
    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-manufacturers-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.