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Smart cars on smart roads: problems of control
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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
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The Automated Highway System: A Transportation Technology for the 21st Century
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Minimum Energy Data Transmission for Wireless Networked Control Systems
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Stability and performance of switching Kalman filters
TL;DR: In this paper, a switching Kalman filter is proposed and its performance analyzed for the state estimation problem of switched affine systems, and it is proved that this filter leads to an optimal and stable estimation for all switching sequences of the system.
References
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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.
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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.