Design and Implementation of Cooperative Adaptive Cruise Control

Sammanfattning: With limited road infrastructure and increasing number of vehicles on the road, an intelligent transport system is needed to increase the throughput in traffic and minimize traffic jams in highly populated areas. The purpose of this project is to design and implement a control system that is capable of driving and following the preceding vehicle autonomously in the longitude direction only. The vehicle is also equipped with a vehicle to vehicle communication unit. With this information, all vehicles on the road can communicate with each other and are able to achieve shorter distances between vehicles and damp any disturbance caused by upstream traffic. A general structure on Cooperative Adaptive Cruise Control (CACC) is created by studying the research from The Netherlands Organization for Applied Scientific Research (TNO). A string stability criterion is used to determine if the system is suitable of driving in a platoon, where a string of vehicles are following a lead vehicle. This system is then implemented in a Volvo S60 and has participated in the 2011 Grand Cooperative Driving Challenge hosted in The Netherlands. The results show that the system has ability to increase throughput and damp disturbance on the upstream traffic by communicating with the other vehicles ahead. The system is also robust and simple enough to earn the 2nd place in the competition.