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Parameter Estimation for Cooperative Adaptive Cruise Control Design among Heterogeneous Vehicles |
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Hyeong Il Kim, Chang Mook Kang, Dae Jung Kim(Hanyang university, Korea), Chung Choo Chung(Hanyang University, Korea) |
| In this paper, we propose parameter estimation through Extended Kalman filter for Cooperative Adaptive Cruise control (CACC) among heterogeneous vehicles. Longitudinal powertrain dynamics, modeled as a simplified first order model using time constants, has uncertainty in the time constant due to various reasons such as engine performance and air resistance. Therefore we propose a parameter estimation for the uncertainty of the model. The proposed method is verified by MATLAB/Simulink for heterogeneous vehicles. |
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Cooperative Adaptive Cruise Control Using Turn Signal for Smooth and Safe Cut-In |
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Wonshick Ko(KAIST, Korea), Dong Eui Chang(University of Waterloo, Canada) |
| This paper proposes a method to reduce the risk of collision in cut-in situations, which enhances the performance of Cooperative Adaptive Cruise Control (CACC) in terms of safety. In the proposed control method, the turn signal of the cut-in vehicle is used to create a virtual vehicle such that the cut-in is handled smoothly and safely in advance. This method increases the safety of the CACC system in cut-in situations with a platoon of vehicles. |
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A Plan to Test Automomous Valet Parking Using an Open Source Merkle Tree SW |
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Kangwon Lee(Korea Polytechnic University, Korea) |
| This paper proposed a test configuration for the autonomous valet parking system with infrastructure support. To assist verifying data and communication integrity, this configuration plans to employ a Merkle tree issuing a unique id to each node. With its efficiency in storage space and verification time, the Merkle tree has a potential to be a useful technology in testing autonomous valet parking system. To accelerate implementation, this paper plans to use an open source software named git because it is a widely used software employing a Merkle tree to store, exchange, and integrate data. |
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On Kinematic Evaluation of Crossing a Junction during Autonomous Valet Parking |
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Kangwon Lee(Korea Polytechnic University, Korea), Eundok Lee, Yunseog Hong(KATRI, Korea) |
| This paper aims to carry out "physics-based" simulations of autonomous vehicles passing through a junction in a parking lot dedicated to autonomous valet. Based on the result, this work would visualize the space and time that vehicle occupy and evaluate of there is any intersection. |
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