  The system of connected vehicle to vehicle and vehicle to infrastructure can
be considered as a wireless cyberphysical system of systems (Wireless CPSoS),
which will be provided with the high ability of adaptive control on system of
systems, cooperative scenarios to control of a Wireless CPSoS and adaptive
wireless networked control system (WNCS). In this paper we present our
multi-vehicle testbed based on the cyber-physical system that was designed for
verification and validation of cooperative driving algorithm involving WNCS
testing. Vehicles were developed as the physical prototype equipped with
Raspberry-pi microprocessor and other sensing elements. This testbed consists
of a fleet of 4 robot vehicles. An indoor positioning system (IPS) based on
particle filter is purposed by using an inertial measurement unit (IMU) and
iBeacon that is built upon Bluetooth Low Energy. Some typical cooperative
driving scenarios can be implemented on this testbed under indoor laboratory.
The method used to realize the objective statement was Model Predictive Control
(MPC) with a state observer based on a Kalman Filter (KF). Because the wireless
control systems can be severely affected by the imperfections of the wireless
communication link. Our experimental testbed paves the way for testing and
evaluating more intelligent cooperative driving scenario with the use new
wireless technology and control system in the future.
