This report investigates the problem of regulation-level vehicle control for combined lateral and longitudinal maneuvers in an automated highway system (AHS) setting. Intelligent vehicles are assigned to dedicated lanes by a decentralized roadside coordinator which suggests a desired velocity....

This report studies the problem of traffic control in the Automated Highway System (AHS) hierarchical architecture of the California PATH program. A link layer controller for the PATH AHS architecture is presented. It is shown that the proposed control laws stabilize the vehicular density and...

In this paper, a roadway controller is designed, analyzed and simulated for a single automated highway lane that achieves desired traffic densities along the lane. A macroscopic traffic flow model that is modified for AHS (Automated Highway Systems) operation is used for control design and...

This paper presents a theory for automated traffic flow, based on abstraction of vehicle activities such as entry, exit and cruising, derived from a vehicle's automatic control laws. The theory formulates TMC traffic plans as the specification of the activities and speed of vehicles, and the...

This report describes the implementation of the regulation layer maneuvers for the hierarchical architecture in SmartPath. The report contains information regarding the simulation of automated vehicle control laws in the SmartPath environment. It also provides an overview of the set of maneuvers...

A comprehensive simulation capability is presented for the analysis of vehicular platoons with or without collisions. A separate collision module (CDM) is integrated within the Platoon Simulation Package (PSP) to allow the recognition and dynamic simulation of intra- platoon collisions. Test...

This dissertation investigates various platooning strategies and their impact on the performance of the platoon. Various decentralized control algorithms are designed and their performance is characterized in terms of the minimum attenuation of the maximum spacing errors that can be guaranteed...

This report is concerned with the dynamic modeling of the tractor- semitrailer vehicles in Automated Highway Systems (AHS). The objectives of the research are to characterize the dynamic response of articulated heavy-duty vehicles, identify the key system parameters, develop control algorithms...

In this paper, linear quadratic optimal control with and without frequency shaping is utilized to design a steering controller for tractor- semitrailer vehicles in Automated Highway Systems (AHS). To enhance driving safety, the authors propose to use independent braking forces in the trailer as...

This work focuses on computing time-optimal maneuvers which might be used to develop strategies for emergency maneuvers and establishing the vehicle' s performance envelope. The problem of emergency maneuvers is addressed in the context of time optimal control. Time optimal trajectories are...