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Smart cars on smart roads: problems of control
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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.Abstract:
Key features of one automated intelligent vehicle/highway system (IVHS) are outlined, it is shown how core driver decisions are improved, a basic IVHS control system architecture is proposed, and a design of some control subsystems is offered. Some experimental work is summarized. A system that promises a threefold increase in capacity is outlined, and a four-layer hierarchical control architecture that decomposes this problem into more manageable units is proposed. >read more
Citations
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Journal Article
Hierarchical Hybrid Control Of Automated Highway Systems
TL;DR: The goal of this dissertation is to design controllers that guarantee collision-free operation of vehicles on an Automated Highway System (AHS) using platooning using a regulation layer feedback controller for the leader of a platoon.
Dissertation
Diagnostic des systèmes dynamiques hybrides à modes non linéaires
TL;DR: In this article, a methode de projection des donnees permet de detecter and localiser les defauts affecting les capteurs dans un mode non lineaire is proposed.
Journal ArticleDOI
Opportunities and Challenges in Cooperative Road Vehicle Automation
TL;DR: The risks of over-reliance on communication for cooperative automation implementations are discussed to provide a balanced view of appropriate levels of cooperation.
Book ChapterDOI
Description and Schedulability Analysis of the Software Architecture of an Automated Vehicle Control System
TL;DR: The software architecture of an automated vehicle control system implemented in the PATH lab is described as a set of periodic tasks each consisting of a sequence of sub-tasks with varying priorities and a schedulability analysis is performed to check whether aSet of timing requirements expressed as deadlines are met.
Proceedings ArticleDOI
Optimal Control of Spatially Distributed Systems
Nader Motee,Ali Jadbabaie +1 more
TL;DR: It is proved that given a control system with a state-space representation consisting of SD operators, the solution of operator Lyapunov and Riccati equations are SD, and it is shown that the kernel of the optimal state feedback for each subsystem decays in the spatial domain.
References
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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.
Journal ArticleDOI
Vision and Navigation for the Carnegie-Mellon Navlab
TL;DR: By reading vision and navigation the carnegie mellon navlab, you can take more advantages with limited budget.
Proceedings ArticleDOI
Longitudinal Control of a Platoon of Vehicles
TL;DR: In this article, the authors present a systematic analysis of a longitudinal control law for a platoon of non-identical vehicles using a non-linear model to represent the vehicle dynamics of each vehicle within the platoon.
Journal ArticleDOI
Preview Control for Vehicle Lateral Guidance in Highway Automation
Huei Peng,Masayoshi Tomizuka +1 more
TL;DR: In this paper, a continuous time deterministic optimal preview control algorithm is applied to the lateral guidance of a vehicle for an automated highway, where the front wheel steering angle of the vehicle is controlled so that the vehicle follows the center for a lane with small tracking error and maintains good ride quality simultaneously.