  In this manuscript a design and implementation of CACC on an autonomous
vehicle platform (2017 Ford Fusion) is presented. The developed CACC controls
the intervehicle distance between the target vehicle and ego vehicle using a
feedforward PD controller. In this design the feedforward information is the
acceleration of the target vehicle which is communicated through Dedicated
Short-Range Communication (DSRC) modem. The manuscript explains the detailed
architecture of the designed CACC with used hardware and methods for the both
simulation and experiments. Also, an approach to overcome detection failures at
the curved roads is presented to improve overall quality of the designed CACC
system. As a result, the initial simulation and experimental results with the
designed CACC system is presented in the paper. The presented results indicate
that CACC improves the car following performance of the ego vehicle as compared
to the classical Adaptive Cruise Controller.
