Journal ArticleDOI
Longitudinal control of the lead car of a platoon
Datta N. Godbole,John Lygeros +1 more
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In this paper, the authors present control schemes that perform the major longitudinal tasks that will be required from the lead vehicle of a platoon moving on an automated highway, such as maintaining safe spacing, tracking an optimal velocity and performing various maneuvers (forming, breaking up platoons and changing lanes).Abstract:
Presents longitudinal control laws for vehicles moving in an intelligent vehicle highway system (IVHS). In particular, the scenario where cars move along the highway in tightly spaced platoons is considered. The authors present control schemes that perform the major longitudinal tasks that will be required from the lead vehicle of a platoon moving on an automated highway. More specifically, schemes that maintain safe spacing, track an optimal velocity and perform various maneuvers (forming, breaking up platoons and changing lanes) are described. Simulation results are given. >read more
Citations
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Journal Article
Safe Platooning in Automated Highway Systems
TL;DR: This report addresses the problem of designing safe controllers for the hybrid system composed by the interaction of the regulation and coordination layers in the hierarchical California PATH Automated Highway System (AHS) architecture.
Journal ArticleDOI
Cohesive Behaviors of Multiagent Systems With Information Flow Constraints
Yanfei Liu,Kevin M. Passino +1 more
TL;DR: This paper characterize cohesiveness of discrete-time multiagent systems as a boundedness or stability property of the agents' position trajectories and uses a Lyapunov approach to develop conditions under which local agent actions will lead to cohesive group behaviors even in the presence of an interagent "sensing topology" that constrains information flow.
Journal ArticleDOI
Design and performance evaluation of mixed manual and automated control traffic
Sunan Huang,W. Ren,S.C. Chan +2 more
TL;DR: An autonomous vehicle driving system (AVDS) is presented which only uses information from vehicle sensors, thereby eliminating the requirement that vehicles communicate with one another, which allows gradual market penetration of AVDS.
Journal ArticleDOI
Minimum sensor second-order sliding mode longitudinal control of passenger vehicles
Antonella Ferrara,Pierluigi Pisu +1 more
TL;DR: A minimum sensor variable structure control strategy for cruise and tracking longitudinal control of vehicles relies on the generation of "second-order" sliding regimes characterized by an identically null derivative of the sliding variable.
Journal ArticleDOI
The Automated Highway System: A Transportation Technology for the 21st Century
TL;DR: An architecture for an automated highway system or AHS is sketched that could triple capacity and reduce travel time, guarantee collision-free operation in the absence of malfunctions, limit performance degradation in the case of faults, and reduce emissions by half.
References
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Book
Nonlinear Control Systems
Alberto Isidori,M. Thoma,Eduardo D. Sontag,B. W. Dickinson,A. Fettweis,J. L. Massey,J. W. Modestino +6 more
TL;DR: In this paper, a systematic feedback design theory for solving the problems of asymptotic tracking and disturbance rejection for linear distributed parameter systems is presented, which is intended to support the development of flight controllers for increasing the high angle of attack or high agility capabilities of existing and future generations of aircraft.
Journal ArticleDOI
Smart cars on smart roads: problems of control
TL;DR: Key features of one automated intelligent vehicle/highway system (IVHS) are outlined, it is shown how core driver decisions are improved, and a basic IVHS control system architecture is proposed and a design of some control subsystems is offered.
Smart cars on smart roads: problems of control
TL;DR: In this paper, an automated intelligent vehicle/highway system (IVHS) is described, and a four-layer hierarchical control architecture is proposed to decompose this problem into more manageable units.
Journal ArticleDOI
Automated vehicle control developments in the PATH program
Steven E Shladover,Charles A. Desoer,J.K. Hedrick,Masayoshi Tomizuka,Jean Walrand,Wei-Bin Zhang,D. H. McMahon,Huei Peng,Shahab Sheikholeslam,Nick McKeown +9 more
TL;DR: The accomplishments to date on the development of automatic vehicle control technology in the Program on Advanced Technology for the Highway (PATH) at the University of California, Berkeley are summarized in this article.
Autonomous intelligent cruise control
TL;DR: In this paper, an autonomous intelligent cruise control (AICC) system for automatic vehicle following, examine its effect on traffic flow and compare its performance with that of the human driver models.