The first section of this report addresses the issues of vehicle control during transition maneuvers in Intelligent Vehicle Highway Systems. Transition maneuvers include automatic lane change of vehicles and merging and splitting of platoons of vehicles in the automated highway system. The...

The project reuses the sensor and actuator interface software developed by California PATH for the DEN1097 automated highway system demonstration on Highway I17 in San Diego during August 1997. This software is provided on the QNX operating system. It interfaces with the magnetometers, radars,...

This report introduces an optimal preview control algorithm which utilizes preview information pertaining to road curvature as well as superelevation angle for vehicle lateral control purposes. The optimal control law consists of both feedback control action and feedforward preview control...

In this report, the implementation in the SHIFT programming language of regulation layer control laws for the hierarchical California PATH Automated Highway System (AHS) is presented. The implemented regulation layer control laws are derived after the safe-feedback based maneuvers designed in...

This report summarizes an experimental effort in integrating and testing an automated vehicle lateral control system. The project, a cooperative effort between the California Partners for Advanced Transit and Highway ( PATH) Program and IMRA America, Inc., included a discrete roadway reference...

This document is a reference manual for SHIFT, a description language for dynamic networks of hybrid systems. This model offers the proper level of abstraction for describing complex applications such as highway and air traffic control systems, robotic shopfloors, and other systems whose...

Keywords longitudinal control, car platooning, back-stepping control, multi-surface dynamic sliding mode control, integral filters, realtime control code This report presents the development of nonlinear longitudinal controllers and their realtime implementation for Automated Highway Systems...

This report examines platoon behavior during non-nominal operations, most especially due to emergency braking. Three main topics are discussed: multiple-collision wave propagation effects for homogeneous platoons with and without lead vehicle information, intra-platoon collision behavior of...

The objectives of the project are: (1) to study the behavior of existing vehicle lateral control systems in the event of magnetometer failures, (2) to design controllers that use the output from only one set of magnetometers, and (3) to develop an autonomous lateral control scheme that uses no...

This report describes the results of an effort to implement and analyze the performance a vehicle control system using control state information obtained from a carrier phase Differential Global Positioning System (DGPS) aided Inertial Navigation System (INS). Keywords: Vehicle Positioning...