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...

This project is a one-and-half year research and experimental effort that builds on the results of as well as supplements the efforts in MOU 250, "Experimental Studies on Vehicle Control Systems." It focuses on an emerging issue of the high-speed steering control: how to conduct robust automatic...

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...

In analogy to the flow of fluids, it is expected that the aggregate density and the velocity of vehicles in a section of a freeway adequately describe the traffic flow dynamics. The conservation of mass equation together with the aggregation of the vehicle following dynamics of controlled...

Vehicles in an IVHS system rely heavily on information obtained from sensors. So far, most control systems make the implicit assumption that sensor information is always correct. However, in reality, sensor information is always corrupted to some degree by noise which varies with operating...

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....