Team Halmstad Approach to Cooperative Driving in the Grand Cooperative Driving Challenge 2016

M. Aramrattana; J. Detournay; C. Englund; V. Frimodig; O.U. Jansson; T. Larsson; W. Mostowski; V.D. Rodriguez; T. Rosenstatter; G. Shahanoor

doi:10.1109/TITS.2017.2752359

Team Halmstad Approach to Cooperative Driving in the Grand Cooperative Driving Challenge 2016

M. Aramrattana, J. Detournay, C. Englund, V. Frimodig, O.U. Jansson, T. Larsson, W. Mostowski, V.D. Rodriguez, T. Rosenstatter, G. Shahanoor

Research output: Contribution to journal › Article › peer-review

Abstract

This paper is an experience report of team Halmstad from the participation in a competition organised by the i-GAME project, the Grand Cooperative Driving Challenge 2016. The competition was held in Helmond, The Netherlands, during the last weekend of May 2016. We give an overview of our car's control and communication system that was developed for the competition following the requirements and specifications of the i-GAME project. In particular, we describe our implementation of cooperative adaptive cruise control, our solution to the communication and logging requirements, as well as the high level decision making support. For the actual competition we did not manage to completely reach all of the goals set out by the organizers as well as ourselves. However, this did not prevent us from outperforming the competition. Moreover, the competition allowed us to collect data for further evaluation of our solutions to cooperative driving. Thus, we discuss what we believe were the strong points of our system, and discuss post-competition evaluation of the developments that were not fully integrated into our system during competition time. © 2000-2011 IEEE.

Original language	English
Pages (from-to)	1248-1261
Number of pages	14
Journal	IEEE Transactions on Intelligent Transportation Systems
Volume	19
Issue number	4
DOIs	https://doi.org/10.1109/TITS.2017.2752359
Publication status	Published - 2018

Keywords

autonomous driving
cooperative adaptive cruise control
cooperative driving
GCDC 2016
IEEE 802.11p
platooning
Adaptive cruise control
Cruise control
Decision making
Autonomous driving
Cooperative adaptive cruise control
Cooperative driving
Cooperative communication

ASJC Scopus subject areas

Mechanical Engineering
Computer Science Applications
Automotive Engineering

Classification according to Österreichische Systematik der Wissenschaftszweige (ÖFOS 2012)

203004 Automotive technology

Applied Research Level (ARL)

ARL Level 7 - Principle in use

Research focus/foci

Human-Centered Technologies & Design

Access to Document

10.1109/TITS.2017.2752359

https://www.scopus.com/inward/record.uri?eid=2-s2.0-85041535321&doi=10.1109%2fTITS.2017.2752359&partnerID=40&md5=5a15ed21ffd32f0abf29fe0596991f85

Cite this

Aramrattana, M., Detournay, J., Englund, C., Frimodig, V., Jansson, O. U., Larsson, T., Mostowski, W., Rodriguez, V. D., Rosenstatter, T., & Shahanoor, G. (2018). Team Halmstad Approach to Cooperative Driving in the Grand Cooperative Driving Challenge 2016. IEEE Transactions on Intelligent Transportation Systems, 19(4), 1248-1261. https://doi.org/10.1109/TITS.2017.2752359

@article{61f265d872754b99beccb17a8f75eb09,

title = "Team Halmstad Approach to Cooperative Driving in the Grand Cooperative Driving Challenge 2016",

abstract = "This paper is an experience report of team Halmstad from the participation in a competition organised by the i-GAME project, the Grand Cooperative Driving Challenge 2016. The competition was held in Helmond, The Netherlands, during the last weekend of May 2016. We give an overview of our car's control and communication system that was developed for the competition following the requirements and specifications of the i-GAME project. In particular, we describe our implementation of cooperative adaptive cruise control, our solution to the communication and logging requirements, as well as the high level decision making support. For the actual competition we did not manage to completely reach all of the goals set out by the organizers as well as ourselves. However, this did not prevent us from outperforming the competition. Moreover, the competition allowed us to collect data for further evaluation of our solutions to cooperative driving. Thus, we discuss what we believe were the strong points of our system, and discuss post-competition evaluation of the developments that were not fully integrated into our system during competition time. {\textcopyright} 2000-2011 IEEE.",

keywords = "autonomous driving, cooperative adaptive cruise control, cooperative driving, GCDC 2016, IEEE 802.11p, platooning, Adaptive cruise control, Cruise control, Decision making, Autonomous driving, Cooperative adaptive cruise control, Cooperative driving, Cooperative communication",

author = "M. Aramrattana and J. Detournay and C. Englund and V. Frimodig and O.U. Jansson and T. Larsson and W. Mostowski and V.D. Rodriguez and T. Rosenstatter and G. Shahanoor",

note = "Cited By :8 Export Date: 14 December 2023 Correspondence Address: Mostowski, W.; School of Information Technology, Sweden; email: [email protected] Funding text 1: We would like to thank the i-GAME project and associated institutions for preparing and organising GCDC 2016, the Swedish CoAct project and institutions for supporting us organisationally and financially, and all of our sponsors including Fengco, TASS International, and Volvo Cars. The work of Wojciech Mostowski is supported by the Swedish Knowledge Foundation grant for the AUTO-CAAS project. We would also like to thank the anonymous reviewers for their valuable comments that helped to improve this paper. References: (2014) Statistical Office of the European Communities, Energy, Transport and Environment Indicators, , Eurostat Pocketbooks on Environment and Energy. Luxembourg: Publications Office of the European Union; Wallmark, C., Goldmann, M., Odhner, P.B., Forward, S., Hoyer, K., (2016) Fossiloberoende Fordonsflotta 2030-Hur Realiserar VI M{\aa}let?, , Sweco, Stockholm, Sweden, Tech. Rep. Slutrapport 2016-09-01; Patton, G.C., Global patterns of mortality in young people: A systematic analysis of population health data (2016) Lancet, 374 (9693), pp. 881-892. , Sep; Gillan, W.J., PROMETHEUS and DRIVE: Their implications for traffic managers (1989) Proc. Conf. Rec. Veh. Navigat. Inf. Syst. Conf, pp. 237-243. , Sep; Rajamani, R., Tan, H.-S., Law, B.K., Zhang, W.-B., Demonstration of integrated longitudinal and lateral control for the operation of automated vehicles in platoons (2000) IEEE Trans. Control Syst. Technol., 8 (4), pp. 695-708. , Jul; Bergenhem, C., Huang, Q., Benmimoun, A., Challenges of platoon-ing on public motorways (2010) Proc. 17th World Congr. Intell. Transp. Syst., pp. 1-12; De La Fortelle, A., Network of automated vehicles: The AutoNet 2030 vision (2014) Proc. ITS World Congr., , https://hal-mines-paristech.archives-ouvertes.fr/hal-01063484/document, [Online]; Aramrattana, M., Larsson, T., Jansson, J., Englund, C., Dimensions of cooperative driving, its and automation (2015) Proc. IEEE Intell. Veh. Symp. (IV), Jun./Jul., pp. 144-149; Shladover, S.E., Nowakowski, C., Lu, X.-Y., Ferlis, R., Cooperative adaptive cruise control (CACC) definitions and operating concepts (2015) Proc. 94th Annu. Meet. Transp. Res. Board (TRB), pp. 1-16; Bengtsson, H.H., Chen, L., Voronov, A., Englund, C., Interaction protocol for highway platoon merge (2015) Proc. IEEE 18th Int. Conf. Intell. Transp. Syst., Sep., pp. 1971-1976; Amoozadeh, M., Deng, H., Chuah, C.-N., Zhang, H.M., Ghosal, D., Platoon management with cooperative adaptive cruise control enabled by VANET (2015) Veh. Commun., 2 (2), pp. 110-123; Kazerooni, E.S., Ploeg, J., Interaction protocols for cooperative merging and lane reduction scenarios (2015) Proc. IEEE 18th Int. Conf. Intell. Transp. Syst., Sep., pp. 1964-1970; Eilers, S., Companion-Towards co-operative platoon management of heavy-duty vehicles (2015) Proc. IEEE 18th Int. Conf. Intell. Transp. Syst., Sep., pp. 1267-1273; B{\"o}hm, A., Jonsson, M., Uhlemann, E., Performance comparison of a platooning application using the IEEE 802.11p MAC on the control channel and a centralized MAC on a service channel (2013) Proc. IEEE 9th Int. Conf. Wireless Mobile Comput., Netw. Commun. (WiMob), pp. 545-552. , Oct; Segata, M., Towards inter-vehicle communication strategies for platooning support (2014) Proc. 7th Int. Workshop Commun. Technol. Veh. (Nets4Cars-Fall), pp. 1-6. , Oct; (2011) Intelligent Transport Systems (ITS); Decentralized Congestion Control Mechanisms for Intelligent Transport Systems Operating in the 5 GHz Range, , Access Layer Part, document ETSI, TS 102 687 V1.1.1, Jul; Sommer, C., Joerer, S., Segata, M., Tonguz, O.K., Cigno, R.L., Dressler, F., How shadowing hurts vehicular communications and how dynamic beaconing can help (2015) IEEE Trans. Mobile Comput., 14 (7), pp. 1411-1421. , Jul; Van Nunen, E., Kwakkernaat, R.J.A.E., Ploeg, J., Netten, B.D., Cooperative competition for future mobility (2012) IEEE Trans. Intell. Transp. Syst., 13 (3), pp. 1018-1025. , Sep; Lidstr{\"o}m, K., A modular CACC system integration and design (2012) IEEE Trans. Intell. Transp. Syst., 13 (3), pp. 1050-1061. , Sep; Englund, C., The grand cooperative driving challenge 2016: Boosting the introduction of cooperative automated vehicles (2016) IEEE Wireless Commun., 23 (4), pp. 146-152. , Aug; Rodr{\'i}guez, V., Detournay, J., Vinel, A., Lyamin, N., An Approach for Receiver-side Awareness Control in Vehicular Ad-hoc Networks, , to be published; Rosenstatter, T., Englund, C., Modelling the Level of Trust in a Cooperative Automated Vehicle Control System, , to be published; Englund, C., Lidstr{\"o}m, K., Nilsson, J., On the need for standardized representations of cooperative vehicle behavior (2013) Proc. 2nd Int. Symp. Future Active Safety Technol. Toward Zerotraffic-Accident, pp. 1-6. , Sep; Huang, A.S., Olson, E., Moore, D.C., LCM: Lightweight communications and marshalling (2010) Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst. (IROS), Oct., pp. 4057-4062; Ebadighajari, A., (2011) Vehicle Control in Cooperative Driving, , M.S. thesis, Dept. Signals Syst., Chalmers Univ. Technol., Gothenburg, Sweden; Medina, A.M., Semsar-Kazerooni, E., (2015) DEL150318 I-GAME D2.2 Generic Real-time Control System FINAL, , i-GAME Project, Tech. Rep. D2.2, Mar; Englund, C., (2015) DEL151031 I-GAME D1.4 Final Report on Requirements Specification, , i-GAME Project, Tech. Rep. D1.4; Voronov, A., De Jongh, J., Heuven, D., Severinson, A., (2016) Implementation of ETSI ITS G5 GeoNetworking Stack, , https://doi.org/10.5281/zenodo.55650, Jun. Java: CAM-DENM/ASN.1 PER/BTP/GeoNetworking. [Online]; (2014) Intelligent Transport Systems (ITS); Vehicular Communications; Basic Set of Applications; Part 2: Specification of Cooperative Awareness Basic Service, , document ETSI, TS 302 687-2 V1.3.1, Sep; Baijer, O., Balaguer, P., Bengtsson, H.H., Chen, L., Garcia-Sol, L., Van De Sluis, J., (2015) D3.2 Proposal for Extended Message Set for Supervised Automated Driving, , i-GAME Project, Tech. Rep. D3.2, Sep; (2014) Intelligent Transport Systems (ITS); Vehicular Communications; Basic Set of Applications; Part 3: Specification of Decentralized Environmental Notification Basic Service, , document ETSI, TS 302 637-3 V1.2.2, Nov; Van De Sluis, J., (2015) D3.1 Wireless Communication Basic Specification Document, , i-GAME Project, Tech. Rep. D3.1, Sep; Semsar-Kazerooni, E., Medina, A.M., Bengtsson, H.H., (2015) DEL150330 I-GAME D2.1 Interaction Protocol, , i-GAME Project, Tech. Rep. D2.1; (2004) Data Elements and Interchange Formats-Information Interchange-Representation of Dates and Times, , document ISO 8601: 2004; Combs, G., Wireshark, , http://www.wireshark.org, Accessed: Oct. 2, 2017. [Online]; Kalman, R.E., Bucy, R.S., New results in linear filtering and prediction theory (1961) J. Basic Eng., 83 (1), pp. 95-108; Magnusson, N., Odenman, T., (2012) Improving Absolute Position Estimates of An Automotive Vehicle Using GPS in Sensor Fusion, , M.S. thesis, Dept. Signals Syst., Chalmers Univ. Technol., Gothenburg, Sweden; Danielsson, L., (2010) Tracking and Radar Sensor Modelling for Automotive Safety Systems, , Ph.D. dissertation, Dept. Signals Syst., Chalmers Univ. Technol., Gothenburg, Sweden; Rosenstatter, T., (2016) Modelling the Level of Trust in a Cooperative Automated Vehicle Control System, , M.S. thesis, School Inf. Technol., Halmstad Univ., Halmstad, Sweden, Sep; Schubert, R., Mattern, N., Bours, R., Evaluating automated vehicle systems using probabilistic sensor simulations (2014) Proc. 10th ITS Eur. Congr., Helsinki, Finland, pp. 1-5. , Jun; Swaroop, D., Hedrick, J.K., String stability of interconnected systems (1996) IEEE Trans. Autom. Control, 41 (3), pp. 349-357. , Mar; Wang, C., Nijmeijer, H., String stable heterogeneous vehicle platoon using cooperative adaptive cruise control (2015) Proc. IEEE 18th Int. Conf. Intell. Transp. Syst., Sep., pp. 1977-1982; Zhou, J., Peng, H., Range policy of adaptive cruise control vehicles for improved flow stability and string stability (2005) IEEE Trans. Intell. Transp. Syst., 6 (2), pp. 229-237. , Jun; Jansson, O.U., Shahanoor, G., (2016) Evaluation of String Stability during Highway Platoon Merge, , M.S. thesis, School Inf. Technol., Halmstad Univ., Halmstad, Sweden, Sep; Rodr{\'i}guez, V.D., Detournay, J., (2016) An Approach for Receiver-side Awareness Control in Vehicular Ad-hoc Networks, , M.S. thesis, School Inf. Technol., Halmstad Univ., Halmstad, Sweden, Sep; Kleinrock, L., A delay dependent queue discipline (1964) Naval Res. Logistics Quart., 11 (3-4), pp. 329-341",

year = "2018",

doi = "10.1109/TITS.2017.2752359",

language = "English",

volume = "19",

pages = "1248--1261",

journal = "IEEE Transactions on Intelligent Transportation Systems",

issn = "1524-9050",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

number = "4",

}

Aramrattana, M, Detournay, J, Englund, C, Frimodig, V, Jansson, OU, Larsson, T, Mostowski, W, Rodriguez, VD, Rosenstatter, T & Shahanoor, G 2018, 'Team Halmstad Approach to Cooperative Driving in the Grand Cooperative Driving Challenge 2016', IEEE Transactions on Intelligent Transportation Systems, vol. 19, no. 4, pp. 1248-1261. https://doi.org/10.1109/TITS.2017.2752359

TY - JOUR

T1 - Team Halmstad Approach to Cooperative Driving in the Grand Cooperative Driving Challenge 2016

AU - Aramrattana, M.

AU - Detournay, J.

AU - Englund, C.

AU - Frimodig, V.

AU - Jansson, O.U.

AU - Larsson, T.

AU - Mostowski, W.

AU - Rodriguez, V.D.

AU - Rosenstatter, T.

AU - Shahanoor, G.

N1 - Cited By :8 Export Date: 14 December 2023 Correspondence Address: Mostowski, W.; School of Information Technology, Sweden; email: [email protected] Funding text 1: We would like to thank the i-GAME project and associated institutions for preparing and organising GCDC 2016, the Swedish CoAct project and institutions for supporting us organisationally and financially, and all of our sponsors including Fengco, TASS International, and Volvo Cars. The work of Wojciech Mostowski is supported by the Swedish Knowledge Foundation grant for the AUTO-CAAS project. We would also like to thank the anonymous reviewers for their valuable comments that helped to improve this paper. References: (2014) Statistical Office of the European Communities, Energy, Transport and Environment Indicators, , Eurostat Pocketbooks on Environment and Energy. Luxembourg: Publications Office of the European Union; Wallmark, C., Goldmann, M., Odhner, P.B., Forward, S., Hoyer, K., (2016) Fossiloberoende Fordonsflotta 2030-Hur Realiserar VI Målet?, , Sweco, Stockholm, Sweden, Tech. Rep. Slutrapport 2016-09-01; Patton, G.C., Global patterns of mortality in young people: A systematic analysis of population health data (2016) Lancet, 374 (9693), pp. 881-892. , Sep; Gillan, W.J., PROMETHEUS and DRIVE: Their implications for traffic managers (1989) Proc. Conf. Rec. Veh. Navigat. Inf. Syst. Conf, pp. 237-243. , Sep; Rajamani, R., Tan, H.-S., Law, B.K., Zhang, W.-B., Demonstration of integrated longitudinal and lateral control for the operation of automated vehicles in platoons (2000) IEEE Trans. Control Syst. Technol., 8 (4), pp. 695-708. , Jul; Bergenhem, C., Huang, Q., Benmimoun, A., Challenges of platoon-ing on public motorways (2010) Proc. 17th World Congr. Intell. Transp. Syst., pp. 1-12; De La Fortelle, A., Network of automated vehicles: The AutoNet 2030 vision (2014) Proc. ITS World Congr., , https://hal-mines-paristech.archives-ouvertes.fr/hal-01063484/document, [Online]; Aramrattana, M., Larsson, T., Jansson, J., Englund, C., Dimensions of cooperative driving, its and automation (2015) Proc. IEEE Intell. Veh. Symp. (IV), Jun./Jul., pp. 144-149; Shladover, S.E., Nowakowski, C., Lu, X.-Y., Ferlis, R., Cooperative adaptive cruise control (CACC) definitions and operating concepts (2015) Proc. 94th Annu. Meet. Transp. Res. Board (TRB), pp. 1-16; Bengtsson, H.H., Chen, L., Voronov, A., Englund, C., Interaction protocol for highway platoon merge (2015) Proc. IEEE 18th Int. Conf. Intell. Transp. Syst., Sep., pp. 1971-1976; Amoozadeh, M., Deng, H., Chuah, C.-N., Zhang, H.M., Ghosal, D., Platoon management with cooperative adaptive cruise control enabled by VANET (2015) Veh. Commun., 2 (2), pp. 110-123; Kazerooni, E.S., Ploeg, J., Interaction protocols for cooperative merging and lane reduction scenarios (2015) Proc. IEEE 18th Int. Conf. Intell. Transp. Syst., Sep., pp. 1964-1970; Eilers, S., Companion-Towards co-operative platoon management of heavy-duty vehicles (2015) Proc. IEEE 18th Int. Conf. Intell. Transp. Syst., Sep., pp. 1267-1273; Böhm, A., Jonsson, M., Uhlemann, E., Performance comparison of a platooning application using the IEEE 802.11p MAC on the control channel and a centralized MAC on a service channel (2013) Proc. IEEE 9th Int. Conf. Wireless Mobile Comput., Netw. Commun. (WiMob), pp. 545-552. , Oct; Segata, M., Towards inter-vehicle communication strategies for platooning support (2014) Proc. 7th Int. Workshop Commun. Technol. Veh. (Nets4Cars-Fall), pp. 1-6. , Oct; (2011) Intelligent Transport Systems (ITS); Decentralized Congestion Control Mechanisms for Intelligent Transport Systems Operating in the 5 GHz Range, , Access Layer Part, document ETSI, TS 102 687 V1.1.1, Jul; Sommer, C., Joerer, S., Segata, M., Tonguz, O.K., Cigno, R.L., Dressler, F., How shadowing hurts vehicular communications and how dynamic beaconing can help (2015) IEEE Trans. Mobile Comput., 14 (7), pp. 1411-1421. , Jul; Van Nunen, E., Kwakkernaat, R.J.A.E., Ploeg, J., Netten, B.D., Cooperative competition for future mobility (2012) IEEE Trans. Intell. Transp. Syst., 13 (3), pp. 1018-1025. , Sep; Lidström, K., A modular CACC system integration and design (2012) IEEE Trans. Intell. Transp. Syst., 13 (3), pp. 1050-1061. , Sep; Englund, C., The grand cooperative driving challenge 2016: Boosting the introduction of cooperative automated vehicles (2016) IEEE Wireless Commun., 23 (4), pp. 146-152. , Aug; Rodríguez, V., Detournay, J., Vinel, A., Lyamin, N., An Approach for Receiver-side Awareness Control in Vehicular Ad-hoc Networks, , to be published; Rosenstatter, T., Englund, C., Modelling the Level of Trust in a Cooperative Automated Vehicle Control System, , to be published; Englund, C., Lidström, K., Nilsson, J., On the need for standardized representations of cooperative vehicle behavior (2013) Proc. 2nd Int. Symp. Future Active Safety Technol. Toward Zerotraffic-Accident, pp. 1-6. , Sep; Huang, A.S., Olson, E., Moore, D.C., LCM: Lightweight communications and marshalling (2010) Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst. (IROS), Oct., pp. 4057-4062; Ebadighajari, A., (2011) Vehicle Control in Cooperative Driving, , M.S. thesis, Dept. Signals Syst., Chalmers Univ. Technol., Gothenburg, Sweden; Medina, A.M., Semsar-Kazerooni, E., (2015) DEL150318 I-GAME D2.2 Generic Real-time Control System FINAL, , i-GAME Project, Tech. Rep. D2.2, Mar; Englund, C., (2015) DEL151031 I-GAME D1.4 Final Report on Requirements Specification, , i-GAME Project, Tech. Rep. D1.4; Voronov, A., De Jongh, J., Heuven, D., Severinson, A., (2016) Implementation of ETSI ITS G5 GeoNetworking Stack, , https://doi.org/10.5281/zenodo.55650, Jun. Java: CAM-DENM/ASN.1 PER/BTP/GeoNetworking. [Online]; (2014) Intelligent Transport Systems (ITS); Vehicular Communications; Basic Set of Applications; Part 2: Specification of Cooperative Awareness Basic Service, , document ETSI, TS 302 687-2 V1.3.1, Sep; Baijer, O., Balaguer, P., Bengtsson, H.H., Chen, L., Garcia-Sol, L., Van De Sluis, J., (2015) D3.2 Proposal for Extended Message Set for Supervised Automated Driving, , i-GAME Project, Tech. Rep. D3.2, Sep; (2014) Intelligent Transport Systems (ITS); Vehicular Communications; Basic Set of Applications; Part 3: Specification of Decentralized Environmental Notification Basic Service, , document ETSI, TS 302 637-3 V1.2.2, Nov; Van De Sluis, J., (2015) D3.1 Wireless Communication Basic Specification Document, , i-GAME Project, Tech. Rep. D3.1, Sep; Semsar-Kazerooni, E., Medina, A.M., Bengtsson, H.H., (2015) DEL150330 I-GAME D2.1 Interaction Protocol, , i-GAME Project, Tech. Rep. D2.1; (2004) Data Elements and Interchange Formats-Information Interchange-Representation of Dates and Times, , document ISO 8601: 2004; Combs, G., Wireshark, , http://www.wireshark.org, Accessed: Oct. 2, 2017. [Online]; Kalman, R.E., Bucy, R.S., New results in linear filtering and prediction theory (1961) J. Basic Eng., 83 (1), pp. 95-108; Magnusson, N., Odenman, T., (2012) Improving Absolute Position Estimates of An Automotive Vehicle Using GPS in Sensor Fusion, , M.S. thesis, Dept. Signals Syst., Chalmers Univ. Technol., Gothenburg, Sweden; Danielsson, L., (2010) Tracking and Radar Sensor Modelling for Automotive Safety Systems, , Ph.D. dissertation, Dept. Signals Syst., Chalmers Univ. Technol., Gothenburg, Sweden; Rosenstatter, T., (2016) Modelling the Level of Trust in a Cooperative Automated Vehicle Control System, , M.S. thesis, School Inf. Technol., Halmstad Univ., Halmstad, Sweden, Sep; Schubert, R., Mattern, N., Bours, R., Evaluating automated vehicle systems using probabilistic sensor simulations (2014) Proc. 10th ITS Eur. Congr., Helsinki, Finland, pp. 1-5. , Jun; Swaroop, D., Hedrick, J.K., String stability of interconnected systems (1996) IEEE Trans. Autom. Control, 41 (3), pp. 349-357. , Mar; Wang, C., Nijmeijer, H., String stable heterogeneous vehicle platoon using cooperative adaptive cruise control (2015) Proc. IEEE 18th Int. Conf. Intell. Transp. Syst., Sep., pp. 1977-1982; Zhou, J., Peng, H., Range policy of adaptive cruise control vehicles for improved flow stability and string stability (2005) IEEE Trans. Intell. Transp. Syst., 6 (2), pp. 229-237. , Jun; Jansson, O.U., Shahanoor, G., (2016) Evaluation of String Stability during Highway Platoon Merge, , M.S. thesis, School Inf. Technol., Halmstad Univ., Halmstad, Sweden, Sep; Rodríguez, V.D., Detournay, J., (2016) An Approach for Receiver-side Awareness Control in Vehicular Ad-hoc Networks, , M.S. thesis, School Inf. Technol., Halmstad Univ., Halmstad, Sweden, Sep; Kleinrock, L., A delay dependent queue discipline (1964) Naval Res. Logistics Quart., 11 (3-4), pp. 329-341

PY - 2018

Y1 - 2018

N2 - This paper is an experience report of team Halmstad from the participation in a competition organised by the i-GAME project, the Grand Cooperative Driving Challenge 2016. The competition was held in Helmond, The Netherlands, during the last weekend of May 2016. We give an overview of our car's control and communication system that was developed for the competition following the requirements and specifications of the i-GAME project. In particular, we describe our implementation of cooperative adaptive cruise control, our solution to the communication and logging requirements, as well as the high level decision making support. For the actual competition we did not manage to completely reach all of the goals set out by the organizers as well as ourselves. However, this did not prevent us from outperforming the competition. Moreover, the competition allowed us to collect data for further evaluation of our solutions to cooperative driving. Thus, we discuss what we believe were the strong points of our system, and discuss post-competition evaluation of the developments that were not fully integrated into our system during competition time. © 2000-2011 IEEE.

AB - This paper is an experience report of team Halmstad from the participation in a competition organised by the i-GAME project, the Grand Cooperative Driving Challenge 2016. The competition was held in Helmond, The Netherlands, during the last weekend of May 2016. We give an overview of our car's control and communication system that was developed for the competition following the requirements and specifications of the i-GAME project. In particular, we describe our implementation of cooperative adaptive cruise control, our solution to the communication and logging requirements, as well as the high level decision making support. For the actual competition we did not manage to completely reach all of the goals set out by the organizers as well as ourselves. However, this did not prevent us from outperforming the competition. Moreover, the competition allowed us to collect data for further evaluation of our solutions to cooperative driving. Thus, we discuss what we believe were the strong points of our system, and discuss post-competition evaluation of the developments that were not fully integrated into our system during competition time. © 2000-2011 IEEE.

KW - autonomous driving

KW - cooperative adaptive cruise control

KW - cooperative driving

KW - GCDC 2016

KW - IEEE 802.11p

KW - platooning

KW - Adaptive cruise control

KW - Cruise control

KW - Decision making

KW - Autonomous driving

KW - Cooperative adaptive cruise control

KW - Cooperative driving

KW - Cooperative communication

U2 - 10.1109/TITS.2017.2752359

DO - 10.1109/TITS.2017.2752359

M3 - Article

SN - 1524-9050

VL - 19

SP - 1248

EP - 1261

JO - IEEE Transactions on Intelligent Transportation Systems

JF - IEEE Transactions on Intelligent Transportation Systems

IS - 4

ER -

Team Halmstad Approach to Cooperative Driving in the Grand Cooperative Driving Challenge 2016

Abstract

Keywords

ASJC Scopus subject areas

Classification according to Österreichische Systematik der Wissenschaftszweige (ÖFOS 2012)

Applied Research Level (ARL)

Research focus/foci

Access to Document

Fingerprint

Cite this