Connected and Automated Vehicles

On Fundamental Issues Of Vehicle Steering Control For Highway

Guldner, Jurgen
Tan, Han-shue
1997

This paper discusses fundamental issues in lateral control design for automatic steering of passenger cars within an Automated Highway System ( AHS). A detailed analysis using time and frequency domain tools together with physical insight into the vehicle dynamics is presented. Several design directions are investigated, both for look-down and look-ahead systems. In order to preserve the qualities of look-down systems, the concept of virtual look-ahead via additional yaw error and yaw rate error measurements is introduced. The authors conclude that proportional-type feedback design...

Major Failure Events of Automated Highway Systems: Three Scenarios from the Driver’s Perspective

Tsao, H.-S. Jacob
Plocher, Thomas A.
Zhang, Wei-Bin
Shladover, Steven E.
1997

Automated Highway Systems (AHS) have the potential for offering large capacity and safety gains without requiring significant amounts of additional right-of-way. Since the general public will be the users of the AHS, human factors must play a pivotal role in the research and development of AVCS technologies and AHS operation. In two companion reports, three attributes critical to AHS human factors were identified and seven scenarios featuring variations in these attributes proposed. To ensure the identification of all major compounding attribute combinations, detailed operational events,...

Summary of Observations on July 1993 Study Tour to Japan

Orne, Donald E.
Shladover, Steven E.
1993

The purpose of this report is to document some lessons learned during the July 3-16, 1993 tour of Japan and Intelligent Vehicles ’93 Symposium attendance by PATH Director Donald E. Orne and Deputy Director/AVCS Program Manager Steven E. Shladover.The tour was arranged by PATH through Japanese contacts to coincide with the Intelligent Vehicles ’93 conference. Most of the contacts were known to PATH either from introductions at various conferences or by visits to PATH offices.Special attention was given by Orne and Shladover to consider the extent to which interaction with government,...

Optimization Tools For Automated Vehicle Systems

Shiller, Zvi
1995

This work focuses on computing time-optimal maneuvers which might be used to develop strategies for emergency maneuvers and establishing the vehicle' s performance envelope. The problem of emergency maneuvers is addressed in the context of time optimal control. Time optimal trajectories are computed along specified paths for a nonlinear vehicle model, which considers both lateral and longitudinal motions.

Time Benefits of New Transportation Technologies: The Case of Highway Automation

Hall, Randolph W.
1991

This paper examines the role of travel time in the choice of transportation technologies. First, the components of travel time are introduced and compared among alternative modes. Next, a series of highway automation concepts is created, and the time benefits of each are discussed. Finally, the effects of automation on highway performance are modeled and evaluated, first looking at the space efficiency of highways, then measuring the benefits of increased capacity and increased velocity.The paper demonstrates that even simple forms of highway automation can provide important travel time...

Driving Intelligence Replacement in a Decision-Oriented Deployment Framework for Driving Automation

Tsao, H.-S. Jacob
Ran, Bin
1996

What some human drivers have done wrong has been blamed for much of the problem associated with the current highway systems. For example, driver inattention, fatigue and other human errors have often been cited as major sources of safety hazard on current highways and human capabilities as major limitations on current highway capacity. Such human deficiencies and the pervasive urban traffic congestion have motivated the concept of Automated Highway Systems (AHS). The fundamental objective of AHS is to achieve user and societal benefits through replacing human driving by automated machine...

Steady State Conditions on Automated Highways

del Castillo, Jose M.
Lovell, David J.
Daganzo, Carlos F.
1995

This paper is concerned with technical investigations of traffic operations on automated highways. Estimates are made of the steady-state capacity of such freeways, paying particular attention to the effect of entry and exit maneuvers. The possibility of scheduling departing vehicles appropriately into platoons to minimize extraneous maneuvers is investigated. Characteristics of urban areas likely to be candidates for automated freeways are discussed, and some shortcomings of automated freeways, vis-à-vis conventional freeways, are pointed out. Finally, some areas of future research needs...

Experimental Studies on High Speed Vehicle Steering Control with Magnetic Marker Referencing System

Tan, Han-Shue
Bougler, Bndicte
2000

This project is a one-and-half year research and experimental effort that builds on the results of as well as supplements the efforts in MOU 250, "Experimental Studies on Vehicle Control Systems." It focuses on an emerging issue of the high-speed steering control: how to conduct robust automatic vehicle steering control at highway speed based on a look-down lateral sensing system.

A Time Headway Autonomous Intelligent Cruise Controller: Design and Simulation

Ioannou, P.A.
Ahmed-Zaid, F.
Wuh, D.H.
1994

Autonomous Intelligent Cruise Control (AICC) design is an important part of Advanced Vehicle Control Systems (AVCS). In this report, we design an AICC scheme for vehicle following with constant time headway spacing. The scheme maintains a steadystate inter-vehicle spacing decided by a desired time headway set by the driver. The longitudinal model of the Lincoln Town Car is used for simulations and testing. The vehicle is assumed to be equipped with a relative distance and speed measuring sensor,as well as an absolute speed measuring device.

Automated Highway Systems Operating Strategies and Events: A Driver’s Perspective

Tsao, H.-S. Jacob
Hall, Randolph
Shladover, Steven
1997

Automated Highway Systems (AHS) have the potential for offering large capacity and safety gains without requiring significant amounts of additional right-of-way. Since the general public will be the users of the AHS, human factors must play a pivotal role in the research and development of AVCS technologies and AHS operation. This paper focuses on fully automated AHS.To ensure the identification of all major human factors issues, we have identified major options for operating fully automated AHS. These options are categorized in the following four dimensions: separation of traffic,...