Towards Design and Integration of a Vehicle-to-X Based Adaptive Cruise Control

  • Oliver Sander
  • Christoph Roth
  • Benjamin Glas
  • Jürgen Becker
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 200)


Today, assistance systems more and more rely on external environmental information. This information exchange is widely still limited to on-board sensors and the local area around the vehicle. Considering e.g. typical safety systems, information is gathered via local sensors. If a critical state is detected, existing actuators are respectively triggered. Vehicle-to-Vehicle or Vehicle-to-Infrastructure (Vehicle-to-X, V2X) Communication allows breaking these limitations, since vehicles are able to exchange internal information with other vehicles wirelessly. The single vehicle is then able to communicate with its environment beyond the line of sight. This results in an earlier detection of critical traffic situations, increased traffic safety and an optimized traffic flow. While currently major efforts regarding V2XC are taken to standardize protocols and communication, integration of V2XC into the overall electric/electronic (E/E) architecture of a vehicle, let alone integration aspects of combining V2X technology with established vehicular safety systems has not been looked at in detail. Using V2XC for safety critical applications demands for strict adherence to real time constraints in the overall processing chain, which starts at the sensor in the transmitting vehicle and ends up in actuators of the receiving vehicles. In between a lot of necessary processing steps make meeting latency limits a major challenge. Looking especially at security checking, data processing and data aggregation we implemented an FPGA-based approach for a V2XC system that is able to fulfil the upcoming computational demands. The system is tightly coupled to the automotive E/E architecture by extending a central car gateway. Within this work we present our approach of combining V2X technology with Adaptive Cruise Control (ACC) while utilizing the aforementioned V2X system as starting point. The paper is meant to provide a basis for future realization of V2X-based safety systems and their tight integration into E/E architectures. Therefore, we explain most important aspects concerning combination of our centralized V2X approach together with ACC capabilities within a real prototype car. This includes a declaration of the underlying concepts as well as a discussion of design decisions that were made to interface ACC and V2X with respect to performance, security and safety requirements.


Vehicle-to-vehicle/vehicle-to-x communication Adaptive cruise control Electronic architectures Prototyping 


  1. 1.
    simTD (2008) Sichere Intelligente Mobilität: Testfeld Deutschland. Project webpage. Available:
  2. 2.
    COMeSafety Project (2008) European Communication Architecture FRAME Annex 10-1. Available:
  3. 3.
    Manifesto—Overview of the C2C-CC System v1.1 (2007) CAR 2 CAR Communication Consortium, 28 Aug 2007Google Scholar
  4. 4.
    IEEE (2006) Trial-use standard for wireless access in vehicular environments (WAVE), IEEE standard 1609Google Scholar
  5. 5.
    SAE (2006) Dedicated short range communications (DSRC) standard draft, SAE standard J2735Google Scholar
  6. 6.
    Dietsche K-H, Jäger T, Robert Bosch GmbH (2003) Kraftfahrtechnisches Taschenbuch. 25. Auflage, Friedr. Vieweg & Sohn Verlag, WiesbadenGoogle Scholar
  7. 7.
    Papadimitratos P, Buttyan L et al (2008) Secure vehicular communication systems: design and architecture. IEEE Commun Mag 46(11):100–109CrossRefGoogle Scholar
  8. 8.
    ETSI (2009) European Telecommunications Standards Institute. Available:
  9. 9.
    EVITA project (2008) E-safety vehicle intrusion protected applications. Project webpage. Available:
  10. 10.
    SeVeCom project, Secure Vehicle Communication. Project Webpage. Available:
  11. 11.
    Qing X, Sengupta R (2003) Simulation, analysis, and comparison of ACC and CACC in highway merging control. In: Proceedings of IEEE intelligent vehicles symposium, pp 237–242, 9–11 June 2003Google Scholar
  12. 12.
    Sander O, Glas B, Roth C, Becker J, Müller-Glaser K (2009) Design of a vehicle-to-vehicle communication system on reconfigurable hardware. In: International conference on field-programmable technology (FPT), Sydney (to be published)Google Scholar
  13. 13.
    Sander O, Glas B, Roth C, Becker J, Müller-Glaser K (2009) Priority-based packet communication on a bus-shaped structure for FPGA-systems. In: Design automation and test in Europe, NiceGoogle Scholar
  14. 14.
    Glas B,Sander O, Stuckert V, Müller-Glaser K, Becker J (2009) Car-to-car communication security on reconfigurable hardware. In: 69th vehicular technology conference, BarcelonaGoogle Scholar
  15. 15.
    Sander O, Merz J, Becker J, Reichmann C (2011) Automatic gateway prototype generation for optimization of E/E-architectures based on high-level models. SAE technical paper, SAE 2011 World Congress & Exhibition, Detroit, April 2011Google Scholar
  16. 16.
    AUTOSAR partnership—Fennel et al (2006) Achievements and exploitation of the AUTOSAR development partnership. In: Convergence 2006—Session 1: International StandardsGoogle Scholar
  17. 17.
    Albers A, Dueser T, Sander O, Roth C, Henning J (2010) X-in-the-Loop-Framework für Fahrzeuge, Steuergeräte und Kommunikationssysteme. In: ATZ Elektronik, Ausgabe 05/2010Google Scholar
  18. 18.
    Albers A, Düser T, Ott S (2008) X-in-the-Loop als integrierte Entwicklungsumgebung von komplexen Antriebssystemen. In: 8. Tagung Hardware-in-the-Loop-Simulation Haus der Technik, KasselGoogle Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Oliver Sander
    • 1
  • Christoph Roth
    • 1
  • Benjamin Glas
    • 2
  • Jürgen Becker
    • 1
  1. 1.Institute for Information Processing Technology (ITIV)Karlsruhe Institute of Technology (KIT)KarlsruheGermany
  2. 2.Robert Bosch GmbH Embedded Security CR/AEA3StuttgartGermany

Personalised recommendations