Automated Merging in a Cooperative Adaptive Cruise Control (CACC) System

W. Klein Wolterink, Geert Heijenk, Georgios Karagiannis

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    Cooperative Adaptive Cruise Control (CACC) is a form of cruise control in which a vehicle maintains a constant headway to its preceding vehicle using radar and vehicle-to-vehicle (V2V) communication. Within the Connect & Drive1 project we have implemented and tested a prototype of such a system, with IEEE 802.11p as the enabling communication technology. In this paper we present an extension of our CACC system that allows vehicles to merge inside a platoon of vehicles at a junction, i.e., at a pre-defined location. Initially the merging vehicle and the platoon are outside each other’s communication range and are unaware of each other. Our merging algorithm is fully distributed and uses asynchronous multi-hop communication. Practical testing of our algorithm is planned for May 2011.
    Original languageEnglish
    Title of host publicationFifth ERCIM Workshop on eMobility
    Subtitle of host publicationVilanova i la Geltrú, Catalonia, Spain, June 14, 2011
    Place of PublicationBarcelona
    PublisherTechnical University of Catalonia (UPC)
    Number of pages4
    ISBN (Print)978-84-920140-3-3
    Publication statusPublished - 14 Jun 2011
    Event5th ERCIM Workshop on E-mobility 2011 - Vilanova i la Geltrú, Catalonia, Spain
    Duration: 14 Jun 201114 Jun 2011
    Conference number: 5


    Workshop5th ERCIM Workshop on E-mobility 2011
    CityVilanova i la Geltrú, Catalonia


    • CACC
    • Cooperative Adaptive Cruise Control
    • ITS
    • Cruise control
    • Vehicular networking
    • V2I
    • V2V
    • Adaptive cruise control
    • Automated merging


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