Abstract

This thesis reviews approaches towards Cooperative Adaptive Cruise Control (CACC), identifies important simulation parameters, and analyzes their correlation with metrics that describe the performance of the application in terms of safety, efficiency and channel utilization. This is achieved through simulation of realistic traffic and V2V communication by using recent ETSI ITS standards including different GeoNetworking message dissemination mechanisms. The results show, that an increasing traffic on the network channel has a negative effect on the safety of a platooning application, but it can be compensated by using more conservative configuration parameters. This impact is increasing slightly for lower vehicle spacing, stronger for longer platoons and drastically for lower beacon rates.

Abstract

onic proceedings; International audience; AutoNet2030 - Co-operative Systems in Support of Networked Automated Driving by 2030 - is a European project connecting two domains of intensive research: cooperative systems for Intelligent Transportation Systems and Automated Driving. Given the latest developments in the standardization of vehicular communications, vehicles will soon be wirelessly connected, enabling cooperation among them and with the infrastructure. At the same time, some vehicles will offer very advanced driving assistance systems, ranging from Cooperative Adaptive Cruise Control (C-ACC) to full automation. The research issues addressed in AutoNet2030 are as follows: how can all these vehicles with different capabilities most efficiently cooperate to increase safety and fluidity of the traffic system? What kind of information should be exchanged? Which organization (e.g. centralized or distributed) is the best? The purpose of this paper is to introduce the vision and concepts underlying the AutoNet2030 project and the direction of this ongoing research work.

Abstract

Over the past decades, congestion and emission problems has increased remarkablywhich escalates the demands on vehicles. The advancements withinthe eld of information and communication systems gives the opportunity todeal with the aforementioned problems. The concept of platooning shows tobe an attractive way of reducing both congestion and emissions by having ashort inter-vehicle spacing. The ndings in studies show that fuel reductionpotentials of 5-20 % are viable as a result of the lowered air drag by drivingin platoon. This thesis investigates the state of the art within the areaof intelligent transport systems (ITS) along with advanced driver assistancesystems (ADAS). Furthermore, the prosecuted work results in a proposedcontrol design for a longitudinal control in a platoon of vehicles. The platoonconsists of two homogeneous radio controlled vehicles (RCV) which aremodelled by taking advantage of system identication methods. The identi-ed plant models are implemented into a Simulink model where the controlsystem is developed. Moreover, the developed control system is implementedinto a real-time demonstrator for experimental evaluation. The results showsthat the modelled dynamics corresponds reasonably well with the real dynamicsof the system. The developed control system proves to work well andagree with the expectations of its performance obtained from simulations.The performance of the proposed controller has been evaluated by means ofsimulations and real experiments. The resulting control system consists ofPID controllers for both speed and spacing control. Under de senaste decennierna har mangden trakstockningar och problemmed utslapp okat - darmed aven kraven pa vara fordon. Samtidigt skaparframstegen inom informations- och kommunikationssystem mojligheter foratt hantera ovannamnda problem. Kolonnkorning, eller platooning har visatsig vara en eektiv metod for att minska saval trakstockningar som utslappsom en foljd av kortare avstand mellan fordon. Resultat fran studier visarhur en branslereduktion runt 5-20 % ar mojlig till foljd av det sankta luftmotstandet vid kolonnkorning. Avhandlingen undersoker teknikens standpunktinom intelligenta transportsystem (ITS) tillsammans med avancerade drivhjalpsystem(ADAS). Vidare resulterar arbetet i ett forslag till regleringsdesignfor en longitudinell kontroll i en kolonn av fordon. Kolonnen bestar av tvahomogena radiostyrda fordon (RCV) som modelleras genom att utnyttjametoder for systemidentiering. De identierade systemmodellerna implementerasi en Simulink-modell dar styrsystemet utvecklas. Dessutom implementerasdet utvecklade styrsystemet i en realtids-demonstration for experimentellutvardering. Resultaten visar att den modellerade dynamikenstammer bra overens med systemets verkliga dynamik. Det utvecklade styrsystemetvisar sig fungera bra och overensstammer med forvantningarna pa dessprestanda som erhallits genom simuleringar. Den foreslagna regulatorns prestandahar utvarderats med hjalp av simuleringar och verkliga experiment.Det resulterande styrsystemet bestar av PID regulatorer for bade hastighetsochavstandskontroll.

Abstract

In the next decades, road transport will undergo a deep transformation with the advent of Connected and"br" Automated Vehicles (CAVs), which are about to drastically change the way we commute. CAVs promise to"br" increase productivity and comfort and to facilitate a greater inclusion in mobility of specific user groups, which"br" may eventually lead to increased travel demand. Together, CAVs will enable the full potential of self-driving"br" technology and they will completely merge over time. The complexity of transportation systems is high and"br" therefore, efficient tools for the assessment of this disruptive change are important."br" The objective of this paper is to evaluate the behavior of automation and/or connectivity in vehicles under realistic"br" traffic conditions and provide preliminary indicative results aiming to assess the efficiency of the corresponding"br" technologies in terms of traffic congestions and network capacity. In the present work, the case-study of the ring"br" road of Antwerp was used along with traffic demand generated based on real traffic counts."br" Preliminary results show that, ceteris paribus, automation alone is less probable to have positive impacts on traffic"br" conditions. The safety constraints that AVs will be designed to fulfill are in fact likely to generate vehicle which"br" are as cautious (if not more cautious), than human drivers. In this picture, the significant step ahead can be brought"br" by connectivity. Vehicles able to communicate in a seamless and secure way can theoretically see an effective"br" reduction in time headways and reaction time with a consequent positive effect on network capacity and thus road"br" congestion until the traffic demand stays constant. This effect is made more evident as their penetration rate over"br" the entire network increases."br" Preliminary results presented in this paper seem to confirm the effectiveness of the strategy put forward by the"br" European Commission to consider connectivity, cooperation and automation as deeply intertwined aspects of the"br" future transformation in the transportation sector.