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An integrated adaptive cruise control (ACC) and cooperative ACC (CACC) was implemented and tested on three heavy-duty tractor-trailer trucks on a closed test track. The first truck was always in ACC mode, and the followers were in CACC mode using wireless vehicle-vehicle communication to augment their radar sensor data to enable safe and accurate vehicle following at short gaps. The fuel consumption for each truck in the CACC string was measured using the SAE J1321 procedure while travelling at 65 mph and loaded to a gross weight of 65,000 lb, demonstrating the effects of: inter-vehicle gaps (ranging from 3.0 s or 87 m to 0.14 s or 4 m, covering a much wider range than previously reported tests), cut-in and cut-out maneuvers by other vehicles, speed variations, the use of mismatched vehicles (standard trailers mixed with aerodynamic trailers with boat tails and side skirts), and the presence of a passenger vehicle ahead of the platoon.

Experimental results on an automatic lane keeping control study are presented in this paper. A magnetic reference system was used to provide the vehicle lateral tracking error as well as future road curvature information and vehicle speed measurement to the vehicle steering controller. The front wheels of the vehicle are steered according to vehicle lateral displacement, future road curvature, vehicle yaw rate and lateral acceleration, and vehicle speed. The control algorithm used to design the feedback and feedforward controllers is known as the Frequency-Shaped-Linear-Quadratic Preview (FSLQ-preview) optimal control design method. The closed loop response of the vehicle was examined under a wide variety of test conditions, including low tire pressure, measurement noise, perturbed reference system, hard braking, and snowy road.