Open Access
Smart cars on smart roads: problems of control
Reads0
Chats0
TLDR
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
More filters
Proceedings ArticleDOI
Hierarchical Traffic Control and Management with Intelligent Vehicles
TL;DR: A new integrated hierarchical IV-based traffic management control framework is proposed that combines the strong points of these architectures and extends them in various directions.
Proceedings ArticleDOI
Task planning and execution for UAV teams
TL;DR: The attack of the Blue force of unmanned air combat vehicles (UAV), against Red's ground force of SAM sites and radars, is designed, in a two-level hierarchy of planning and execution.
Journal ArticleDOI
Spatial Model Predictive Control for Smooth and Accurate Steering of an Autonomous Truck
TL;DR: An algorithm for lateral control of a vehicle—a smooth and accurate model predictive controller (MPC) based on the minimization of the first- and second-order spatial derivatives of the curvature, which clearly outperforms an industrial pure-pursuit controller and a standard MPC in terms of driving smoothness.
Journal ArticleDOI
Hierarchical Longitudinal Controller for Rear-End Collision Avoidance
TL;DR: A longitudinal controller using terminal sliding mode (TSM) with hierarchical structure is proposed for rear-end collision avoidance, which is employed to achieve convergence in finite time and to accommodate the intelligence of the driver to handle various situations.
Proceedings ArticleDOI
Autonomous driving in semi-structured environments: Mapping and planning
Dmitri A. Dolgov,Sebastian Thrun +1 more
TL;DR: This work addresses the problem of autonomous driving in semi-structured environments with strong topological structure, demonstrating robust estimation of lane networks in parking lots and the benefits of using these topological networks to guide path planning.
References
More filters
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.