Cooperative Adaptive Cruise Control in Real Traffic Situations

Vicente Milanés (1) , Steven E. Shladover (2) , John Spring (2) , Christopher Nowakowski (2) , Hiroshi Kawazoe (3) , Masahide Nakamura (3)

1 RITS - Robotics & Intelligent Transportation Systems
2 ITS - Institute of Transportation Studies [Berkeley]
3 Nissan Corporation

Intelligent vehicle cooperation based on reliable communication systems contributes not only to reducing traffic accidents, but also to improving traffic flow. Adaptive Cruise Con-trol (ACC) systems can gain enhanced performance by adding vehicle-vehicle wireless communication to provide additional information to augment range sensor data, leading to Cooperative ACC (CACC). This paper presents the design, development, implementation and testing of a CACC system. It consists of two controllers, one to manage the approaching maneuver to the leading vehicle and the other to regulate car-following once the vehicle joins the platoon. The system has been implemented on four production Infiniti M56s vehicles, and this paper details the results of experiments to validate the performance of the controller and its improvements with respect to the commercially available ACC system.

Mots clés: Index Terms—Cooperative Adaptive Cruise Control (CACC); adaptive cruise control (ACC); intelligent driving; cooperative vehicles; connected vehicles; intelligent transportation systems (ITS)

Domaines: Automatique / Robotique

Vicente Milanés, Steven E. Shladover, John Spring, Christopher Nowakowski, Hiroshi Kawazoe, et al.. Cooperative Adaptive Cruise Control in Real Traffic Situations. IEEE Transactions on Intelligent Transportation Systems, 2014, 15, pp.296 - 305. ⟨10.1109/TITS.2013.2278494⟩. ⟨hal-01091154⟩