Figure5

Figure 5. <![CDATA[Real-time experiment using RTI1006 version of dSPACE program, available at http://lab.tarsus.edu.tr/cars. dSPACE is a high-fidelity driving simulator that offers several block sets for testing and validating vehicle control algorithms. The experiments were performed on a computer equipped with an Intel $$ {\mathit{Xeon 3.2 GHz}}$$ CPU. A virtual world of traffic is visually seen on the Motion desk platform of dSPACE that runs on a Simulink model where all the algorithms are packed. For the experiments, a driver is in charge of the leader car (human-driven vehicle) and the following HEVs are connected under CACC car-following behavior models.]]>