Towards A Fault Tolerant Ahs Design Part I: Extended Architecture

In this study, the authors propose a hierarchical control architecture for dealing with faults and adverse environmental conditions on an Automated Highway System (AHS). The faults are classified according to the capabilities remaining on the vehicle or roadside after the fault has occurred. Information about these capabilities is used by supervisors in each of the layers to select appropriate control strategies. The extended control strategies that are needed by these supervisors in each layer of the hierarchy are outlined. A companion paper, abstracted in PATH Database record no. 9597, develops and verifies protocols for extended coordination strategies and maneuvers.