There is an increasing demand for reliable wireless communication in embedded real time systems.  Various communication requirements make the development and deployment of applications that rely on the existence of a protocol stack a challenging research and industrial field of activity. Suitable protocol stacks need to be designed and implemented on new hardware platforms and software structures. Applications that exchange packets over a wireless medium have to deal with time constraints, error checks and have to be aware of energy consumption.   PIE (Platform for Intelligent Embedded Systems) is an experimental platform developed at Halmstad University for educational purposes.  It is a robotic vehicle with wireless communication capabilities that can be used to experiment with traffic scenarios where the vehicles communicate in order to cooperate, for example to avoid hazards or to build platoons.   This thesis addresses the design and implementation of a protocol stack suitable for the PIE platform in the area of vehicle alert systems. Requirements include low latencies along with low packet loss ratios.  The thesis addresses also experimenting with reactive objects for programming network software.

This thesis is concerned with an experimental platform for studying cooperative driving and techniques for embedded systems programming. Cooperative driving systems use vehicle-to-vehicle and vehicle-to-infrastructure communication for safe, smooth and efficient transportation. Cooperative driving systems are considered as a promising solution for traffic situations such as blind crossings. For the thesis work we use a robotic vehicle known as PIE (Platform for Intelligent Embedded Systems) equipped with a wireless communication device, electrical motors and controlled via a SAM7-P256 development board. For the infrastructure side we use a SAM7-P256 development board equipped with nRF24l01. Vehicle to vehicle and base station to vehicle communication is established and different platooning scenarios are implemented. The scenarios are similar to platooning scenarios from the Grand Cooperative Driving Challenge GCDC1. The performance of the platoon control algorithm is measured in terms of throughput (a measure of string stability), smoothness and safety, where the safety requirements serve as pass/fail criteria.

<p>This thesis is concerned with an experimental platform for studying cooperative driving and techniques for embedded systems programming. Cooperative driving systems use vehicle-to-vehicle and vehicle-to-infrastructure communication for safe, smooth and efficient transportation. Cooperative driving systems are considered as a promising solution for traffic situations such as blind crossings. For the thesis work we use a robotic vehicle known as PIE (Platform for Intelligent Embedded Systems) equipped with a wireless communication device, electrical motors and controlled via a SAM7-P256 development board. For the infrastructure side we use a SAM7-P256 development board equipped with nRF24l01. Vehicle to vehicle and base station to vehicle communication is established and different platooning scenarios are implemented. The scenarios are similar to platooning scenarios from the Grand Cooperative Driving Challenge GCDC1. The performance of the platoon control algorithm is measured in terms of throughput (a measure of string stability), smoothness and safety, where the safety requirements serve as pass/fail criteria.</p>