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Klein Wolterink, W. and Heijenk, G.J. and Karagiannis, G. (2011) Automated Merging in a Cooperative Adaptive Cruise Control (CACC) System. In: Fifth ERCIM Workshop on eMobility, June 14 2011, Vilanova i la Geltrú, Catalonia, Spain. pp. 23-26. Technical University of Catalonia. ISBN 978-84-920140-3-3
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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.
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