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...

This report deals with the lateral guidance of vehicles, with focus on lane change maneuvers. Two approaches are presented for lane changes maneuvers. The first is to treat the maneuvers as a tracking control problem. A virtual desired trajectory (VDT) is used a tracking control approach. The...

This report presents the theoretical development of a method to evaluate differing platoon control strategies and determine each strategy's worst case behavior under bounded parametric variations. The approach is useful in aiding a platoon designer in determining the robustness a design strategy...

The objective of this paper is to develop a throughput model of a multiple- lane Automated Highway System (AHS) with lane changes. The paper uses deterministic approximations to model highway throughput, accounting for both longitudinal and lateral requirements. The model is designed to account...

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 presents the work on the development of the regulation layer for automated merging. It includes system modeling, control system synthesis, theoretical analysis and real-rime implementation and field test. The essential part is a rather general adaptive merging algorithm. Key words:...

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...

A simple model for a string of vehicles is constructed. The model explicitly accounts for the possibility of repeated collisions between the vehicles in the string. Based on the model a notion of safety is formulated for the string. Necessary and sufficient conditions are presented that specify...

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...

The following two proposals are presented: (1) Vehicles are organized in platoons in which the lead car is manually driven and the other cars are under automatic spacing (headway) control. A plausible model of the resulting flow of traffic indicates that, for an average platoon size of 20, the...