Cristofer Englund

Design and Experimental Validation of a Cooperative Driving System in the Grand Cooperative Driving Challenge

In this paper, we present the Cooperative Adaptive Cruise Control (CACC) architecture, which was proposed and implemented by the team from Chalmers University of Technology, Göteborg, Sweden, that joined the Grand Cooperative Driving Challenge (GCDC) in 2011. The proposed CACC architecture consists of the following three main components, which are described in detail: 1) communication; 2) sensor fusion; and 3) control. Both simulation and experimental results are provided, demonstrating that the proposed CACC system can drive within a vehicle platoon while minimizing the inter-vehicle spacing within the allowed range of safety distances, tracking a desired speed profile, and attenuating acceleration shockwaves.

Cooperative Intersection Management: A Survey

Intersection management is one of the most challenging problems within the transport system. Traffic light-based methods have been efficient but are not able to deal with the growing mobility and social challenges. On the other hand, the advancements of automation and communications have enabled cooperative intersection management, where road users, infrastructure, and traffic control centers are able to communicate and coordinate the traffic safely and efficiently. Major techniques and solutions for cooperative intersections are surveyed in this paper for both signalized and nonsignalized intersections, whereas focuses are put on the latter. Cooperative methods, including time slots and space reservation, trajectory planning, and virtual traffic lights, are discussed in detail. Vehicle collision warning and avoidance methods are discussed to deal with uncertainties. Concerning vulnerable road users, pedestrian collision avoidance methods are discussed. In addition, an introduction to major projects related to cooperative intersection management is presented. A further discussion of the presented works is given with highlights of future research topics. This paper serves as a comprehensive survey of the field, aiming at stimulating new methods and accelerating the advancement of automated and cooperative intersections.

The Grand Cooperative Driving Challenge 2016: boosting the introduction of cooperative automated vehicles

The Grand Cooperative Driving Challenge (GCDC), with the aim to boost the introduction of cooperative automated vehicles by means of wireless communication, is presented. Experiences from the previous edition of GCDC, which was held in Helmond in the Netherlands in 2011, are summarized, and an overview and expectations of the challenges in the 2016 edition are discussed. Two challenge scenarios, cooperative platoon merge and cooperative intersection passing, are specified and presented. One demonstration scenario for emergency vehicles is designed to showcase the benefits of cooperative driving. Communications closely follow the newly published cooperative intelligent transport system standards, while interaction protocols are designed for each of the scenarios. For the purpose of interoperability testing, an interactive testing tool is designed and presented. A general summary of the requirements on teams for participating in the challenge is also presented.

Future Applications of VANETs

Current transportation systems face great challenges due to the increasing mobility. Traffic accidents, congestion, air pollution, etc., are all calling for new methods to improve the transportation system. With the US legislation in progress over vehicle communications and EU’s finalization of the basic set of standards over cooperative intelligent transportation systems (C-ITS), vehicular ad hoc network (VANET) based applications are expected to address those challenges and provide solutions for a safer, more efficient and sustainable future intelligent transportation systems (ITS). In this chapter, transportation challenges are firstly summarized in respect of safety, efficiency, environmental threat, etc. A brief introduction of the VANET is discussed along with state of the art of VANET-based applications. Based on the current progress and the development trend of VANET, a number of new features of future VANET are identified, together with a set of potential future ITS applications. The on-going research and field operational test projects, which are the major enabling efforts for the future VANET-based C-ITS, are presented. The chapter is of great interest to readers working within ITS for current development status and future trend within the C-ITS area. It is also of interest to general public for an overview of the VANET enabled future transportation system.

Ink flow control by multiple models in an offset lithographic printing process

A multiple model-based controller has been developed aiming at controlling the ink flow in the offset lithographic printing process. The control system consists of a model pool of four couples of inverse and direct models. Each couple evaluates a number of probable control signals and the couple, generating the most suitable control signal is used to control the printing press, at that moment. The developed system has been tested at a newspaper printing shop during normal production. The results show that the developed modelling and control system is able to drive the output of the printing press to the desired target levels.

Cooperative ITS — EU standards to accelerate cooperative mobility

With intensive research and field operational tests over the intelligent transportation area and the advancements of information and communication technologies, intelligent transportation systems reach the stage of deployment. EU focuses on cooperative intelligent transportation systems and confirms the finalization of the first release of the standards, paving the way for deployment in the coming years. This paper presents the concept of EUs cooperative intelligent transportation systems and describes in detail the functional architecture, together with highlights of related standards that have been finalized in Release 1. Latest updates of the cooperative intelligent transportation systems are provided for both industry and academia, aiming at helping to accelerate cooperative mobility.

A SOM-based data mining strategy for adaptive modelling of an offset lithographic printing process

This paper is concerned with a SOM-based data mining strategy for adaptive modelling of a slowly varying process. The aim is to follow the process in a way that makes a representative up-to-date data set of a reasonable size available at any time. The technique developed allows analysis and filtering of redundant data, detection of the need to update the process models and the core-module of the system itself and creation of process models of adaptive, data-dependent complexity. Experimental investigations performed using data from a slowly varying offset lithographic printing process have shown that the tools developed can follow the process and make the necessary adaptations of the data set and the process models. A low-process modelling error has been obtained by employing data-dependent committees for modelling the process.

Dimensions of cooperative driving, its and automation

Wireless technology supporting vehicle-to-vehicle (V2V), and vehicle-to-infrastructure (V2I) communication, allow vehicles and infrastructures to exchange information, and cooperate. Cooperation among the actors in an intelligent transport system (ITS) can introduce several benefits, for instance, increase safety, comfort, efficiency. Automation has also evolved in vehicle control and active safety functions. Combining cooperation and automation would enable more advanced functions such as automated highway merge and negotiating right-of-way in a cooperative intersection. However, the combination have influences on the structure of the overall transport systems as well as on its behaviour. In order to provide a common understanding of such systems, this paper presents an analysis of cooperative ITS (C-ITS) with regard to dimensions of cooperation. It also presents possible influence on driving behaviour and challenges in deployment and automation of C-ITS.

A SOM based model combination strategy

A SOM based model combination strategy, allowing to create adaptive – data dependent – committees, is proposed. Both, models included into a committee and aggregation weights are specific for each input data point analyzed. The possibility to detect outliers is one more characteristic feature of the strategy.

Interaction Protocol for Highway Platoon Merge

An interaction protocol for cooperative platoon merge on highways is proposed. The interaction protocol facilitates a challenge scenario for the Grand Cooperative Driving Challenge (GCDC) 2016, where two platoons running on separate lanes merge into one platoon due to a roadwork in one of the lanes. Detailed interaction procedures, described with state machines of each vehicle are presented. A communication message set is designed to support platoon controllers to perform safe and efficient manoeuvres.