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...

This report addresses the problem of automation of heavy-duty vehicles. After a brief description of the dynamic model used in the design and simulations, the authors develop nonlinear controllers with adaptation, first for speed control and then for vehicle follower longitudinal control. Both...

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 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 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...