CARMA Testing and Evaluation of Research Mobility Applications
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2019-07-01
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Edition:Oct 2017-Jul 2019
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Abstract:This report presents the results of a test and evaluation effort that assessed the performance of three research mobility applications implemented by the open-source second-generation Cooperative Automation Research Mobility Applications (CARMA2) platform. This platform enables the research and development of cooperative automated driving system capabilities to support the advancement of transportation systems management and operations, and facilitates cooperative tactical maneuvers of automated driving systems with other vehicles and roadway infrastructure through wireless communication. The CARMA2 plugin mobility applications include vehicle platooning, speed harmonization, and cooperative on-ramp merge using automatic longitudinal control. This report describes the test procedures and identifies key performance measures for each of the three applications. Testing was conducted at the U.S. Army’s Aberdeen Test Center and involved a fleet of five 2013 Cadillac SRX passenger vehicles that the Federal Highway Administration’s Saxton Transportation Operations Laboratory had equipped with the CARMA2 platform. Using a new “All Predecessor Following” platooning algorithm, the tests demonstrated the successful platooning of five CARMA2-equipped vehicles traveling up to 60 mph with time gaps as low as 0.6 second. The results of the test data analysis also revealed opportunities to improve the capability and performance of the three applications as their algorithms undergo further development and are implemented on the third-generation CARMA (CARMA3) platform.
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