Connected and Automated Vehicles

Vehicle Traction Control And its Applications

Kachroo, Pushkin
Tomizuka, Masayoshi
1994

This paper presents a study of vehicle traction control and discusses its importance in highway automation. A robust control strategy is designed for slip control, which in turn controls the traction. It is shown how traction control can be used to satisfy different objectives of vehicle control. The importance of traction is further emphasized by comparing its performance to passive controllers in a simulation study in which an impulse-like wind disturbance is introduced. The comparative study shows that the system under traction control is stable in the presence of external disturbances...

Message Volumes For Two Examples Of Automated Freeway

Hitchcock, Anthony
1993

In this paper, calculations are made of the volume of messages transmitted between vehicles or between vehicles and the infrastructure, in order to estimate the demand of advanced vehicle control systems (AVCS) for frequency allocations. Two previous conceptual designs for an automated freeway are used to provide a basis for calculations.

A Dynamic Visualization Environment For The Design And Evaluation Of Automatic Vehicle Control Systems

Xu, Z.
1995

This document presents Dynamic Visualization, a project associated with the California PATH Program. The objective of the project is to develop a software which can animate automated highways, visualize the dynamics of automatic vehicles, and help the design and evaluation of automatic vehicle systems. This report summarizes the accomplishments of the project, describes the functions of the developed software, and provides an explanation of how to use the software.

GPS/ INS Based Lateral And Longitudinal Control Demonstration: Final Report

Farrell, Jay
Barth, Matthew
Galijan, Randy
Sinko, Jim
1998

This report describes the results of a one year effort to implement and analyze the performance of a Differ- ential Global Positioning System (DGPS) aided Inertial Navigation System (INS) for possible future use in Advanced Vehicle Control Systems (AVCS). The initial premise of this project was that DGPS/INS technology has the potential to serve as a centimeter-level position reference system as necessary for automated driving functions. Key advantages of this approach include: 1) no changes to the highway infrastructure are required; therefore, the DGPS/INS system should be less expensive...

Nonlinear Longitudinal Controller Development and Real-time Implementation

Lu, Xiao-Yun
Tan, Han-Shue
Empey, Dan
Shladover, Steven E.
Hedrick, J. Karl
2000

Keywords longitudinal control, car platooning, back-stepping control, multi-surface dynamic sliding mode control, integral filters, realtime control code This report presents the development of nonlinear longitudinal controllers and their realtime implementation for Automated Highway Systems (AHS) at PATH, U. C. Berkeley supported by the project MOU 331. The demo'97 realtime code was first reconstructed for further development. Based on the new framework, the implementation and comparison of nonlinear controllers in the longitudinal control for cars platooning and other maneuvers have been...

Fmcw Mmw Radar For Automotive Longitudinal Control

David, William
1997

This report presents information on millimeter wave (MMW) radar for automotive longitudinal control. It addresses the fundamental capabilities and limitations of millimeter waves for ranging and contrasts their operation with that of conventional microwave radar. The report analyzes pulsed and FMCW radar configurations, and provides detailed treatment of FMCW radar operating at MMW frequency, its advantages and disadvantages as they relate to range and velocity measurements.

Evaluation And Analysis Of Automated Highway System Concepts And Architectures

Ioannou, Petros
1998

This is the final report for the project entitled \Evaluation and Analysis of Automated Highway System Concepts and Architectures" in response to the contractual requirements of the Memorandum of Understanding MOU# 235, between the Partners of Advanced Transit and Highways (PATH) and the University of Southern California, administered at the University of Califor- nia at Berkeley. The purpose of this project was to select, evaluate and analyze a num- ber of promising Automated Highway System (AHS) operational concepts based on previous work. The evaluation and analysis includes headway dis...

Longitudinal Control Of A Platoon Of Vehicles. Ii, First And Second Order Time Derivatives Of Distance Deviations

Sheikholeslam, Shahab
Desoer, Charles A.
1989

This report is an addendum to PATH Research ReportUCB-ITS-PRR-89-3.

Experimental Automatic Lateral Control System For An Automobile

Peng, Huei
Zhang, Wei-bin
Arai, Alan
Lin, Ye
Hessburg, Thomas
Devlin, Peter
Tomizuka, Masayoshi
Shladover, Steven
1992

This report summarizes an experimental effort in integrating and testing an automated vehicle lateral control system. The project, a cooperative effort between the California Partners for Advanced Transit and Highway ( PATH) Program and IMRA America, Inc., included a discrete roadway reference system, on-vehicle magnetic sensing system, a computer control system and a hydraulic actuator.

Automated Highway System Field Operational Tests For The State Of California: Potential Sites, Configurations And Characteristics

Hall, Randolph W.
Thakker, Viral
Horan, Thomas A.
Glazer, Jesse
Hoene, Chris
1997

This report describes possible objectives for a Field Operational Test (FOT), to be conducted following the completion of the National Automated Highway System Consortium (NAHSC) mission in 2002. At that time, it is anticipated that there will be one or more FOTs in which ordinary drivers will use automated vehicles on a real roadway, under test conditions. The report also identifies potential test sites in California, and evaluates the merits of these sites for conducting different types of tests.