Cooperative driving enables a more efficient use of existing infrastructure which
reduces the expenditures and land use for new roads. Cooperative driving is based
on intelligent communication between vehicles and between vehicles and their environment.
Vehicles can drive closer to each other due to the capability of forming
a platoon with cooperative driving technology. Human reaction times are too large
to drive closely behind another vehicle and today’s advanced cruise control systems
have their own problems.
The Grand Cooperative Driving Challenge (GCDC), organized by TNO, aims at
accelerating the development and implementation of cooperative driving technologies.
The first finals will be in May 2011, where teams have to negotiate their vehicles
as efficiently as possible through a range of predetermined traffic scenarios on
In the Swedish CoAct project students and researchers from Chalmers will develop
a platform that will be installed in a Volvo S60. This platform is divided in different
modules, hence this report represents the work on the Rules and Logic. The goal of
this part of the project is to determine the state of the cooperative driving platform,
by means of communication between vehicles and the environment, and pass this
information through to the controller module, and other vehicles on the road.
The joining process is essential for the Rules and Logic, therefore every step of the
joining scenario’s are explained in detail. Together with the platooning operations
and its definitions the functions of the Rules and Logic module are determined.
This module is implemented in a stateflow chart based on the state diagram of the
In order to validate the Rules and Logic and the Controller modules, simulations
should be performed. Stability and safety aspects must be proved before implementing
the system in the Volvo S60. Tests on the Volvo S60 must be performed
to validate if the behavior of the vehicle is as expected, matching the results of the
The Rules & Logic module is proved working, with respect to the scope of this
project, in the tested simulations. The final version it needs to be improved with
more knowledge of the controller. The performance of the joining algorithm is
influenced by the following part of the controller and therefore it is important to
give this issue sufficient attention. This together with the vehicle to infrastructure
communication part on the Rules and Logic Module is for future work.
Traineeship report. - DC 2011.012