Connected and Automated Vehicles

Evaluation of Bus and Truck Automation Operations Concepts

Tsao, H. S. Jacob
Zhang, Lan
Lin, Lin
Batni, Deepa
2004

Traffic congestion will continue to worsen and likely worsen at a faster rate than ever. People throughput and freight throughput have become critical issues for California and the rest of the nation. PATH has funded with approximately $125K a research project entitled "Evaluation of Bus and Truck Automation Scenarios" jointly proposed by Jan Botha (Principal Investigator) of Department of Civil and Environmental Engineering and Jacob Tsao (Co-PI) of Department of Industrial and Systems Engineering at San Jose State University. This report summarizes the major findings of the research...

Testing and Evaluation of Robust Fault Detection and Identification for a Fault Tolerant Automated Highway System: Final Report

Chen, Robert H.
Ng, Hok K.
Speyer, Jason L.
Mingori, D. Lewis
2004

This report concerns vehicle fault detection and identification. The design of a vehicle health monitoring system based on analytical redundancy approach is described. A residual generator and a residual processor are designed to detect and identify actuator and sensor faults of the PATH Buick LeSabre. The residual generator, which includes fault detection filters and parity equations, uses the control commands and sensor measurements to generate the residuals which have a unique static pattern in response to each fault. Then, the residual processor interrogates the residuals by matching...

Vehicle Lane Change Maneuver In Automated Highway Systems

Chee, Wonshik
Tomizuka, Masayoshi
1994

In this report, lane change maneuver for an automated highway system is investigated as a tracking problem with respect to the virtual desired trajectory (VDT). The two main issues discussed in the report are: 1) design of virtual desired trajectory and 2) design of control algorithms. Four types of desired trajectories are considered. The use of onboard sensors for closed loop control are used. Three closed loop controllers, based on 1) linear quadratic (LC) optimal control, 2) frequency shaped linear quadratic (FSLQ), and 3) sliding mode control are evaluated. Simulation results show...

Personalized Demand-Responsive Transit Service

Cayford, Randall
Yim, Y. B. Youngbin
2004

Providing easy access to the public transit service is the goal of the California transit agencies. Many travelers cannot take an express transit because they often cannot park and ride. Smart DRT (demand responsive transit) Feeder is a system that collects transit riders from neighborhoods and takes them to transit stations. This system will use APTS (Advanced Public Transit System) technologies to make the feeder service convenient and reliable. The concept is very simple. When demand is high, Smart Feeder will use the fixed-route fixedschedule service. When demand is low, it will use...

Development Of Binocular Stereopsis For Vehicle Lateral Control, Longitudinal Control And Obstacle Detection

Malik, Jitendra
Taylor, Camillo J.
Mclauchlan, Philip
Kosecka, Jana
1997

This report describes progress in the application of computer vision techniques to the lateral and longitudinal control of an autonomous highway vehicle. A vehicle's lateral dynamics and the design of an appropriate controller for lateral control are investigated. Stereo vision, in conjunction with a scanning laser radar sensor, are studied for providing range information applicable to the longitudinal control problem. The results from the experimental demonstration of this system are reported as part of the National Automated Highway Systems Consortium (NAHSC) Demonstration that took...

Design And Implementation Of Digital Radio Communications Link For Platoon Control

Li, Wei-yi
1995

This report discusses the design and implementation of inter-vehicle communication systems used in the longitudinal control platoon experiments conducted by PATH (Partners for Advanced Transit and Highways). In the first section of the report, the inter-vehicle communication links implemented in both the two and four vehicles platoon experiments are examined. Lastly, this report investigates some possible future improvements of the communication link used for platoon control experimentation.

Task A-2: Implementation and Management of Electronic Roadway Tolling: Lessons from Successful Cases

Kalauskas, Rebecca
Taylor, Brian D.
Iseki, Hiroyuki
2009

Over the past decade road pricing has moved from the drawing board to practice in projects large and small around the world. But while interest in and experience with electronic roadway tolling is on the rise, political acceptance is not yet widespread and standard models of implementation and management have yet to evolve. Accordingly, this report examines a variety of road pricing projects– some that were smoothly implemented, and others that encountered significant obstacles along the way. Based on these cases and a thorough review of the literature, we draw lessons to guide future...

Cooperative Adaptive Cruise Control (CACC) For Partially Automated Truck Platooning:Final Report

Tan, Yaolong
Kanellakopoulos, Ioannis
2002

The report describes the results of the project funded under MOU 314.The main result is the experimental implementation of various longitudinal control algorithms that were developed under MOU124 and MOU 240. In order to conduct these experiments, in collaboration with Professor Tomizuka’s group and PATH Personnel, we first outfitted a Class-8 tractor-trailer commercial heavy-duty vehicle on loan from Freightliner Corporation with the necessary sensors and actuators for fully automated operation. These sensors and actuators included the vehicle speed sensors, air-brake pressure sensors,...

Connected and Automated Vehicle Policy Development for California

Shladover, Steven E.
2017

Connected Vehicles (CV), Automated Vehicles (AV) and their combination as Connected Automated Vehicles (CAVs) have beenamong the most important developments in surface transportation within the past few years. California has been a nationalleader in the development of these technologies and their predecessors for several decades, but that leadership position is injeopardy as other states court CAV development and testing outside of California. The paper suggests Californiaactively engages in CAV through a number of different outlets; encouraging the development of state-of- the-art testing...

Streamlining Connected Automated Vehicle Test Data Collection and Evaluation in the Hardware-in-the-Loop Environment

Fu, Zhe
Liu, Hao, PhD
Lu, Xiao-Yun, PhD
2020

Quality data collection, processing, and analysis are foundational to good research, policy making and regulation development. With the rapid development of Connected Automated Vehicles (CAV) technologies, it is urgent for both researchers and policy makers to obtain and evaluate good quality CAV data to better understand CAV impacts. CAV hardware-in-the-loop (HIL) tests can expedite CAV performance evaluation and system implementation. This research aims at equipping an existing HIL test tool with data management functions. To this end, a database instance on MySQL has been integrated...