Experimental evaluation of a co-operative driving setup based on inter-vehicle communication.

R. Hallouzi, V. Verdult, H. Hellendoorn, J. Ploeg

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

3 Citations (Scopus)
149 Downloads (Pure)

Abstract

This paper presents the design and evaluation of a co-operative longitudinal controller for a cluster of vehicles with inter-vehicle communication (IVC). By applying IVC a smooth traffic flow can be realized. The proposed controller can actively control the throttle, the brake and the gears of the used vehicles in order to do so. The longitudinal controller uses two loops; the outer loop computes a desired acceleration, which the inner loop uses as a reference. The outer loop uses acceleration, velocity and position information from the own vehicle and preceding vehicles. These three states first have to be estimated from various sensors in the vehicle. An Extended Kalman Filter (EKF) has been used for fusing the signals from the different sensors. The used signals are available from DGPS and from inertial sensors on the test-vehicles. Real-life experiments with the proposed algorithm for a cluster of three vehicles will be evaluated.
Original languageEnglish
Title of host publicationProceedings of the 5th IFAC Symposium on Intelligent Autonomous Vehicles (IAV 2004), 5-7 July 2004, Lisbon, Portugal
Pages1-6
Publication statusPublished - 2004
Event5th IFAC Symposium on Intelligent Autonomous Vehicles, IAV 2004 - Lisbon, Portugal
Duration: 5 Jul 20047 Jul 2004
Conference number: 5

Conference

Conference5th IFAC Symposium on Intelligent Autonomous Vehicles, IAV 2004
Abbreviated title IAV 2004
Country/TerritoryPortugal
CityLisbon
Period5/07/047/07/04
Other5th IFAC Symposium on Intelligent Autonomous Vehicles (IAV 2004)

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