In this paper, a case study of the difficulties encountered in the design of hierarchical, hybrid control systems is presented. The Intelligent Vehicle Highway System (IVHS) architecture proposed for vehicle platooning is used as an example. The authors conclude that the conventional tools...

Automation of highways and in particular platooning of vehicles raises a number of control issues. A hierarchical structure is used to address these issues. The work presented here is an attempt at constructing a consistent interface between discrete event and continuous time controllers. The...

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 research, the authors focus on the problem of designing hierarchical, hybrid controllers for large scale systems. An overview of the proposed design process is first given. A modeling formalism is then introduced which allows for the modeling of multi-agent systems with hybrid dynamics...

We investigate the effect of a number of design alternatives on the safety and capacity of an Automated Highway System. Our methodology makes use of two computational tools, designed to highlight the fundamental limitations of the vehicle dynamics, sensing and control strategies and...

In this paper, the authors propose a hierarchical control architecture for dealing with faults an adverse environmental conditions on an Automated Highway System (AHS). The design builds on a previously designed control architecture that works under normal conditions of operation. The faults...