One of the main goals of an Automated Highway System environment is to increase the throughput of vehicles traveling on the highway. By moving vehicles in a platoon (a group of tightly spaced vehicles), the traffic flow capacity can be greatly increased. The control law developed for vehicles to...

This report begins with an examination of autonomous lateral vehicle control. This is followed by a section on Cooperative Intelligent Cruise Control (CICC). The effect of communication delays on the control performance of vehicle platoons is then examined. The report concludes with a study of...