This study investigates issues concerning the implementation and impacts of lateral guidance/control systems and the phased implementation of these systems in exclusive-access High Occupancy Vehicle (HOV) lanes. The study is divided into 5 volumes. The objectives of each volume are as follows:...

In this paper, a general worst case stopping scenario for vehicle following is used to develop algorithms for generating the minimum safety spacing (MSS) for collision-free vehicle following. These algorithms are used to study the effects of vehicle characteristics and other parameters on the...

This study investigates issues concerning the implementation and impacts of lateral guidance/control systems and the phased implementation of these systems in exclusive-access High Occupancy Vehicle (HOV) lanes. The study is divided into 5 volumes. The objectives of each volume are as follows:...

This report summarizes recent work done in the area of longitudinal control of a platoon of autonomous vehicles. As a prerequisite to controller design, a twelve state nonlinear model including an internal combustion engine, engine transmission dynamics, and tire friction characteristics has...

This report discusses the design and implementation of inter-vehicle communication systems used in the longitudinal control platoon experiments conducted by PATH (Partners for Advanced Transit and Highways). In the first section of the report, the inter-vehicle communication links implemented in...

This report presents two performance enhancement lateral control designs for single unit heavy vehicles. It is shown that robust performance can be achieved using the techniques on a feedback linearized system.

This study examines the lessons to be learned from the experience of the San Francisco Bay Area Rapid Transit (BART) system, particularly as applied to the growing research on automated highway systems (AHS). The first section of the report briefly motivates the analogy of BART by comparing some...

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...

This study investigates issues concerning the implementation and impacts of lateral guidance/control systems and the phased implementation of these systems in exclusive-access High Occupancy Vehicle (HOV) lanes. The study is divided into 5 volumes. The objectives of each volume are as follows:...

This report presents a linear analysis of a tractor semitrailer model. The analysis is followed by the design of a simple linear controller for lane following. Offtracking analysis is presented for a single unit vehicle and tractor semitrailer. This analysis is independent of the control design....