In this report, the implementation in the SHIFT programming language of regulation layer control laws for the hierarchical California PATH Automated Highway System (AHS) is presented. The implemented regulation layer control laws are derived after the safe-feedback based maneuvers designed in...

This report summarizes an experimental effort in integrating and testing an automated vehicle lateral control system. The project, a cooperative effort between the California Partners for Advanced Transit and Highway ( PATH) Program and IMRA America, Inc., included a discrete roadway reference...

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...

Two freeway bottlenecks, each with a distinct geometry, have been investigated in an effort to understand traffic conditions leading to capacity losses (i.e., breakdown). One bottleneck is formed by a horizontal curve and the other by a reduction in travel lanes. These bottlenecks are shown to...

This document is a reference manual for SHIFT, a description language for dynamic networks of hybrid systems. This model offers the proper level of abstraction for describing complex applications such as highway and air traffic control systems, robotic shopfloors, and other systems whose...

A gyroscope-free inertial navigation system uses only accelerometers to compute navigation trajectories. It is a low-cost navigation system, but its output error diverges at a rate that is an order faster than that of a conventional gyroscope-based system. So integration with an external...

Keywords longitudinal control, car platooning, back-stepping control, multi-surface dynamic sliding mode control, integral filters, realtime control code This report presents the development of nonlinear longitudinal controllers and their realtime implementation for Automated Highway Systems...

This report examines platoon behavior during non-nominal operations, most especially due to emergency braking. Three main topics are discussed: multiple-collision wave propagation effects for homogeneous platoons with and without lead vehicle information, intra-platoon collision behavior of...

This document is a reference manual for the fsp and xfsp programs. The fsp program is a software tool used to interrogate the data that was collected during the Freeway Service Patrol Evaluation Project. The purpose of the program is to perform diagnostics on the data, generate error reports,...

This paper focuses on identifying roadway locations that display high collision rates only under wet pavement condition A unique approach of screening and identifying such locations, called the continuous risk profile (CRP) method, was utilized for this analysis The CRP method was applied to...