Regulation Layer Software Integration

The project reuses the sensor and actuator interface software developed by California PATH for the DEN1097 automated highway system demonstration on Highway I17 in San Diego during August 1997. This software is provided on the QNX operating system. It interfaces with the magnetometers, radars, and the various intenal sensors such as wheel speed, engine speed, steering angle, etc, as well as with the actuators such as throttle, brake, and steering. In this project, we wrote an interface process that communicates between the driver process described above and the controller process described below. The interface process is required because the driver process works in a blocking communication mode while the controller process works in a non-blocking communication mode. The controller process is provided in three flavors: lateral control only, longitudinal cont'rol only, and integrated lateral and longitudinal cont,rol.