In this report a recursive least square scheme with multiple forgetting factors is proposed for on-line estimation of road grade and vehicle mass. The estimated mass and grade can be used to robustify many automatic controllers in conventional or automated heavy-duty vehicles. We demonstrate...

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...

The goal of this project is to replace the existing analog video collection system on the roof of Pacific Park Plaza (PPP) with a digital one. This video collection system is part of the Berkeley Highway Laboratory (BHL) testbed. It records video of traffic on a continuous one-kilometer section...

In this paper, the authors present several throttle and brake control systems for automatic vehicle following. These control systems are designed and tested using a validated nonlinear vehicle model first and then actual vehicles. Each vehicle to be controlled is assumed to be equipped with...

The project reuses the sensor and actuator interface software developed by California PATH for the DEN1097 automated highway system demonstration on Highway I17 in San Diego during August 1997. This software is provided on the QNX operating system. It interfaces with the magnetometers, radars,...

This report introduces different coordinated traffic responsive ramp control algorithms, implemented or not-implemented, but based on promising new mathematical techniques. A total of 17 different ramp metering approaches is described. For the already implemented algorithms, the historical...

This report presents a micro-simulation method to evaluate potential ITS applications. Based on the commercial PARAMICS model, a capability-enhanced PARAMICS simulation environment has been developed through integrating a number of plug- in modules implemented with Application Programming...

This report presents the findings of its investigation into deployment sequences to better understand the paths that could be taken from today's driving environment to vehicle-highway automation. One of the most vexing problems has always been that of determining how to advance from the...