Connected and Automated Vehicles

System Fault Detection in Human-Augmented Automated Driving

Cohn, Theodore
2001

Lateral control of a vehicle in the Automated Highway System (AHS) has been formulated and simulated as part of the hierarchical AHS control structure. In that structure, lateral control resides in the vehicle, and is implemented as a closed-loop control system with the lateral deviation of the vehicle from a reference position as a controlled variable and the steering angle or its rate as a controlling input. The PATH AHS scenario has assumed a road reference and sensing system based on magnetic markers equally spaced along a highway lane. Freedom in the selection of the polarity of each...

Lateral Control of Heavy Vehicles for Automated Systems

Hingwe, Pushkar
Wang, Jen-Yu
Tai, Meihua
Tomizuka, Masayoshi
2003

This is the final report for MOU 313, "Lateral Control of Heavy Vehicles for Automated Highway Systems". It address the following task items: Analysis and synthesis of control algorithms based on system identification and calibration results (Task 4. in the MPU), Closed loop results at highway speeds (Task 5), limits and persormance of sensors, actuators and control schemes as infered from data collected during closed loop experiments at 55 MPH (task 6) and baseline safety requirements based on closed loop data (task 7) Five controllers were designed based on the model identification study...

Qualitative Analysis on the Performance of Non-uniform Platoons: Report I; Non-uniformities and Performance Issues

Tongue, Benson H.
Packard, Andy
Sachi, Paul
1997

This is the first of two reports in which we detail the accomplishments and findings of a two-year research project aimed at determining control and spacing strategies as well as developing performance issues for automated vehicles traveling in platoons under non-uniform conditions. The first phase of the research was geared toward determining parameter uncertainty ranges for a given model and expected disturbances that materially affect the behavior of a vehicle in a platoon. Once this was completed, the relevant criteria for determining platoon performance were investigated. A simulation...

Lateral Control Of Heavy Duty Vehicles For Automated Highway Systems

Tai, M.
Wang, J.-y.
Hingwe, P.
Chen, C.
Tomizuka, M.
1998

This report presents a linear analysis of a tractor semitrailer model. The analysis is followed by the design of a simple linear controller for lane following. Offtracking analysis is presented for a single unit vehicle and tractor semitrailer. This analysis is independent of the control design. Modeling of multi-unit articulated vehicles is also presented. Both a complex simulation model and a simplified control design model are derived for a general road train.

An Experimental Study On Lateral Control Of A Vehicle

Hessburg, Thomas
Peng, Huei
Tomizuka, Masayoshi
Zhang, Wei-bin
1991

Addresses issues regarding the implementation of an integration of several specific technologies involved in achieving lateral guidance of an experimental automotive vehicle on an automated highway. Results demonstrate the feasibility of the proposed discrete magnetic marker reference/sensing system. In addition, the performance and limitations of a PID/feedforward controller is investigated with respect to tracking accuracy of straight and curved sections as well as robustness to changes in load, longitudinal velocity, and cornering stiffness.

Implementation of Advanced Techniques for Automated Freeway Incident Detection

Abdulhai, Baher
Ritchie, Stephen G.
Iyer, Mahadevan
1999

A significant body of research on advanced techniques for automated freeway incident detection has been conducted at the University of California, Irvine (UCI). Such advanced pattern recognition techniques as artificial neural networks (ANNs) have been thoroughly investigated and their potential superiority to other techniques has been demonstrated. Of the investigated ANN architectures, two have shown the best potential for real-time implementation: namely, the Probabilistic Neural Network (PNN), (Abdulhai and Ritchie 1997), and the Multi-Layer-Feed-Forward Neural Network (MLF), (Cheu and...

Development And Experimental Evaluation Of Autonomous Vehicles For Roadway/vehicle Cooperative Driving

Ioannou, Petros
1998

Automatic vehicle following is an important feature of a fully or partially automated highway system (AHS). The on-board vehicle control system should be able to accept and process inputs from the driver, the infrastructure and other vehicles, perform diag- nostics and provide the appropriate commands to actuators so that the resulting motion of the vehicle is safe and compatible with the AHS objectives. The purpose of this paper is to design and test a vehicle control system in order to achieve full vehicle automation in the longitudinal direction for several modes of operation, where the...

Spacing And Capacity Evaluations For Different Ahs Concepts

Kanaris, Alexander
Ioannou, Petros
Ho, Fu-sheng
1996

In this study, the authors consider a family of six Automated Highway Systems (AHS) operational concepts. For each concept, the minimum inter- vehicle spacing that could be used for collision-free vehicle following, under different road conditions, is calculated. For architectures involving platoons, the authors also use the alternative constraint of bounded energy collisions to calculate the spacing that can be applied if collisions at a limited relative velocity were allowed. In every case, the minimum spacing in turn, is used to calculate the maximum possible capacity that could be...

Design Of Fault Tolerant Control Systems For Ahs

Sastry, S.
Horowitz, R.
Hedrick, K.
1998

This report describes research in the area of fault detection and handling designs used in the longitudinal control system of platooned automated vehicles. Results are presented on experimental testing of the designs. The authors also describe a consistent interface between the fault detection and handling modules and how it was implemented in the SHIFT programming language for the specification of hybrid systems. In addition, the report describes part of the modeling formalism required for the formal verification of safety claims.

Feasibility of A Gyroscope-free Inertial Navigation System for Tracking Rigid Body Motion

Tan, Chin-Woo
Mostov, Kirill
Varaiya, Pravin
2000

We study the feasibility of designing an accelerometer-based gyroscope-free inertial navigation system (INS) that uses only accelerometers to compute the linear and angular motions of a rigid body.