Connected and Automated Vehicles

Experimental Results Of Fuzzy Logic Control For Lateral Vehicle Guidance

Hessburg, Thomas
Peng, Hei
Zhang, Wei-bin
Arai, Alan
Tomizuka, Masayoshi
1994

A Fuzzy logic controller (FLC) is designed and implemented in real time on a Toyota Celica test vehicle to achieve control of the lateral motion of the vehicle. The structure of the FLC is modularized as a feedback, preview, and gain scheduling rule base. The parameters of the FLC are tuned manually using information from characteristics of human driving operation and an existing controller. The fuzzy logic control strategies are implemented on the test vehicle, automatically following a multiple curved track using discrete magnetic markers as a lateral error reference system. The test...

Fault Detection And Identification With Application To Advanced Vehicle Control Systems

Douglas, Randal K.
Speyer, Jason L.
Mingori, D. Lewis
Chen, Robert H.
Malladi, Durga P.
Chung, Walter H.
1995

In this report, a preliminary design of a health monitoring system for automated vehicles is developed and results of tests in a high-fidelity nonlinear simulation are reported. Two car models are described: low- dimensional linear models for fault detection filter design and high fidelity nonlinear model is used for evaluation and to obtain the linear models used for design. The faults and the fault detection filters and system are then described. An evaluation of the performance of the fault detection filters in a nonlinear simulation are presented. A fault detection filter residual...

Implementation and Evaluation of Automated Vehicle Occupancy Verification

Chan, Ching-Yao
Bu, Fanping
Singa, Krute
Wang, Huili
2011

Vehicle occupancy verification is a principal impediment to more efficient HOV/HOT lane enforcement. However, no automated solution has yet been developed for permanent field implementation. Given widespread plans for development of HOV and HOT lanes in a number of metropolitan areas, improved vehicle occupancy verification techniques urgently need to be explored as well as the legal and institutional barriers to their implementation.A research project to evaluate the technologies for vehicle occupancy verification was conducted by California PATH of University of California at Berkeley....

Development and Field Testing of An Interactive Transit Station Information System (ITSIS)Using Connected Vehicle Technologies

Meng, Huadong
Tsao, Jacob
Zhou, Kun
Picar, Justin
Mizuno, Bradley
Zhang, Wei-Bin
2018

The objective of Interactive Transit Station Information System (ITSIS) is to better inform transit travelers during their trips and to enable dynamic transit operations to better serve travelers. The ultimate goal is to make transit more friendly and attractive to the traveling population such that transit will become a viable choice for travel and an integrated part of the solution for congestion relief. This report documents a research effort to develop and test a ITSIS prototype that uses Connected Vehicle technologies to enable the real-time interaction between passengers and transit...

A Design Framework For Hierarchical, Hybrid Control

Lygeros, John
Godbole, Datta N.
Sastry, Shankar
1997

In this research, the authors focus on the problem of designing hierarchical, hybrid controllers for large scale systems. An overview of the proposed design process is first given. A modeling formalism is then introduced which allows for the modeling of multi-agent systems with hybrid dynamics in a modular fashion. An algorithm that makes use of ideas from game theory to capture the interaction between the agents, derive continuous controllers and quantify the discrete coordination needed to achieve certain performance objectives is presented. The algorithm is then applied to the problem...

Development of the Advanced Rotary Plow (ARP) for Snow Removal Operations

Tan, Han-Shue
Bu, Fanping
Bougler, Bénédicte
Koo, Shiang-Lung
Nelson, David
Chang, Joanne
Lian, Thang
2006

This final report describes the development and the initial field test of an automated snowblower, focusing on one of the more difficult snow removal operations: blowing snow off the freeway along side a guardrail without touching the guardrail. The objective is to minimize damage to the snowblower, guardrail, and other elements of the infrastructure by deploying highly accurate and robust automated steering. The automatic steering is accomplished by following magnets embedded under the roadway. The development process includes transforming this real-world automated highway winter...

Communications And Positioning Systems In The Motor Carrier Industry

Scapinakis, Dimitris A.
Garrison, William L.
1991

Until recently, truck drivers and their dispatchers have relied on public telephones and voice radio systems to communicate with each other. Today, however, vendors are beginning to offer new technologies for determining the positions of trucks and communications to and from trucks. Eighteen systems and their implications for the industry and intelligent vehicle highway systems (IVHS) activities are reviewed in this paper. Some of the newer communications and/or positioning systems are in the proposal stage. Others are available with not yet fully developed capability or only in limited...

Assessing Benefits of Coordination on Safety in Automated Highway Systems

Choi, Woosuk
Swaroop, Darbha
2001

In this report, we present a methodology for assessing the benefits of different vehicle coordination strategies on the safety of a platoon during emergency braking. One can say that a coordinated braking strategy B is more beneficial than a strategy, if strategy B leads to a larger reduction in the probability of a collision, the expected number of collisions, and the expected relative velocity at impact as compared to strategy .We consider an emergency braking scenario, in which the lead vehicle brakes at its maximum capability and the following vehicles brake while obeying a vehicle...

Modeling And Simulation Of The Automated Highway System

Eskafi, Farokh H.
1996

This report presents the hierarchical structure for the control design of an Automated Highway System (AHS). This control hierarchy has four layers: network, link, coordination, and regulation. It is used to model different AHS proposals. Control layers and the internal structure of each layer and the interfaces between then are described. Three basic maneuvers are described: join, split, and change lane. The SmartPath simulation tools are described to enable simulating AHS scenarios. The advantages of SmartPath include providing a graphical interface, providing microsimulation, and also...

Fault Tree Analysis Of An Automated Freeway With Vehicle-borne Intelligence

Hitchcock, Anthony
2004

This report summarizes research work conducted under TO4143 at the California PATH ATMS Center at the University of California, Irvine. This project has two tasks: Functionality enhancements of the PARAMICS simulation model through API programming for the on-line simulation application; On-line data fusion algorithm for a better section travel time estimation based on point detector data and probe vehicle data. In order to conduct these two tasks, we complete the following two related studies, which are the basis of the two tasks of this project: Development of the capability-enhanced...