Normal driving characterization tests were designed to create conditions where the lead vehicle was under speed control mode and between one and four following vehicles were under gap control mode once a platoon was formed. Forming the platoon was done under manual control by professional drivers. Drivers were able to brake/steer/accelerate manually in a naturalistic manner without the need to press switch or button to resume control of the vehicle.
Testing was conducting using five Cadillac SRX vehicles equipped with Data Acquisition Systems (DAS) with FHWAs proof-of-concept platooning system implemented on the Connected Automated Research and Mobility Applications (CARMA) platform. When in CACC mode, the lead vehicle had a prescribed speed profile application that used geolocation information and Global Positioning System (GPS) positioning to automatically set its desired speed and other CACC parameters. The geolocations used to set or make changes were called 'Waypoints' along the 7.2-km track. Thus, the lead vehicle was equipped with a custom speed controller to follow the tightly controlled speed profile by using GPS to identify predefined waypoints that triggered the lead vehicle to change its speed to a predefined value.
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