This paper presents the cooperative adaptive cruise control implementation of Team Mekar at the Grand Cooperative Driving Challenge (GCDC). The Team Mekar vehicle used a dSpace microautobox for access to the vehicle controller area network bus and for control of the autonomous throttle intervention and the electric-motor-operated brake pedal. The vehicle was equipped with real-time kinematic Global Positioning System (RTK GPS) and an IEEE 802.11p modem installed in an onboard computer for vehicle-to-vehicle (V2V) communication. The Team Mekar vehicle did not have an original-equipment-manufacturer-supplied adaptive cruise control (ACC). ACC/Cooperative adaptive cruise control (CACC) based on V2V-communicated GPS position/velocity and preceding vehicle acceleration feedforward were implemented in the Team Mekar vehicle. This paper presents experimental and simulation results of the Team Mekar CACC implementation, along with a discussion of the problems encountered during the GCDC cooperative mobility runs

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Road vehicle yaw stability control systems like electronic stability program (ESP) are important active safety systems used for maintaining lateral stability of the vehicle. Vehicle yaw rate is the key parameter that needs to be known by a yaw stability control system. In this paper, yaw rate is estimated using a virtual sensor which contains kinematic relations and a velocity-scheduled Kalman filter. Kinematic estimation is carried out using wheel speeds, dynamic tire radius, and front wheel steering angle. In addition, a velocity-scheduled Kalman filter utilizing the linearized single-track model of the road vehicle is used in the dynamic estimation part of the virtual sensor. The designed virtual sensor is successfully tested offline using a validated, high degrees of freedom, and high fidelity vehicle model and using hardware-in-the-loop simulations. Moreover, actual road testing is carried out and the estimated yaw rate from the virtual sensor is compared with the actual yaw rate obtained from the commercial yaw rate sensor to demonstrate the effectiveness of the virtual yaw rate sensor in practical use.

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