Cooperative Driving Systems and Platooning Prototype: Platooning Prototype with Pie (Platform for Embedded and Intelligent Systems)

This book is concerned with an experimental platform for studying cooperative driving and techniques for embedded systems programming. Cooperative driving systems use vehicle-to-vehicle and vehicle-to-infrastructure communication for safe, smooth and effcient transportation. Cooperative driving systems are considered as a promising solution for traffic situations such as blind crossings. A robotic vehicle known as PIE (Platform for Intelligent Embedded Systems) equipped with a wireless communication device, electrical motors and controlled via a SAM7-P256 development board is used as a vehicle. For the infrastructure side we use a SAM7-P256 development board equipped with nRF24l01. Vehicle to vehicle and base station to vehicle communication is established and different platooning scenarios are implemented. The scenarios are similar to platooning scenarios from the Grand Cooperative Driving Challenge GCDC1. The performance of the platoon control algorithm is measured in terms of throughput (a measure of string stability), smoothness and safety, where the safety requirements serve as pass/fail criteria.