Connected and Automated Vehicles

Simple Results on Communication With Neighbors

Puri, Anuj
Varaiya, Pravin
1999

Normal Communication Networks require the Sender to specify the address of the Receiver before communication can take place. In problems that a rise in an Automated Vehicle Highway System, the Sender can identify the Receiver by its physical location only (i.e. a car wanting to communicate with the car immediately in front of it). Normal Communication Procedures that use the Receiver's Address to establish communication must be preceded by an Address Finding Protocol. An Address Finding Protocol which uses the Absoulate Location of vehicles has been proposed in [2] and is reviewed in...

Liability and Regulation of Autonomous Vehicle Technologies

Kalra, Nidhi
Anderson, James
Wachs, Martin
2009

Autonomous vehicle technologies and advanced driver-assistance systems have the potential to significantly improve transportation safety and efficiency, and, collectively, they may offer tremendous social, economic, and environmental benefits. As these technologies increasingly perform driving functions, they also create a shift in responsibility for driving from the driver to the vehicle itself. This motivates a new look at liability and regulatory regimes because of the increasing uncertainty about what should happen when the inevitable crash occurs and the implications for the adoption...

Automated Travel Time Measurement Using Vehicle Lengths from Loop Detector Speed Traps

Coifman, Benjamin
Cassidy, Michael
2000

This report presents a vehicle reidentification algorithm for consecutive detector stations on a freeway, whereby a vehicle measurement made at a downstream detector station is matched with the vehicle's corresponding measurement at an upstream station. The algorithm should improve freeway surveillance by measuring the actual vehicle travel times; these are simply the differences in the times that each (matched) vehicle arrives to the upstream and downstream stations. Thus, it will be possible to quantify conditions between widely spaced detector stations rather than assuming that the...

Capacity Of Automated Highway Systems: Effect Of Platooning And Barriers

Tsao, H. S. Jacob
Hall, Randolf
Hongola, Bruce
1994

In this paper, the authors study the capacity of key Automated Highway Systems (AHS) operating scenarios. The effect of the lane-flow rule, platooning or free-agent, as well as the lane barriers, on AHS capacity are studied. Special attention is paid to the interaction between the lane-flow rule and the lane change requirement. The paper consists of two major components, analytical models and AHS simulation. After a brief introduction of AHS operating strategies, analytical models are developed for general AHS. For simulation, the authors focus on a segregated AHS that has one automated...

Lateral Control Of Tractor-semitrailer Vehicles In Automated Highway Systems

Chen, Chien
Tomizuka, Masayoshi
1996

In this paper, linear quadratic optimal control with and without frequency shaping is utilized to design a steering controller for tractor- semitrailer vehicles in Automated Highway Systems (AHS). To enhance driving safety, the authors propose to use independent braking forces in the trailer as another control input. The combined steering and braking controller is designed by utilizing Input/Output linearization and backstepping design techniques.

Anonymous Vehicle Tracking for Real-Time Freeway and Arterial Street Performance Measurement

Ritchie, Stephen G.
Park, Seri
Oh, Cheol
Jeng, Shin-Ting (Cindy)
Tok, Andre
2005

This research involved an important extension of existing field-implemented and tested PATH research by the authors on individual vehicle reidentification, to develop methods for assessing freeway and arterial (and transit) system performance for the Caltrans PeMS (Performance Measurement System). PeMS has been adopted by Caltrans as the standard tool for assessing freeway system performance, but lacks capabilities for assessing arterial and transit system performance, and strategies that combine freeways, arterials and/or transit and commercial vehicle fleets. It was shown that the...

Optimal Emergency Maneuvers Of Automated Vehicles

Shiller, Zvi
Sundar, Satish
1996

This work addresses two issues related to emergency maneuvers of autonomous vehicles. The first concerns the time-optimal speeds along specified path, which can be used to design emergency maneuvers. The second concerns the computation of optimal lane-change maneuvers for on- line collision avoidance. Although considering only a simple planar vehicle model, this work provides insights into the dynamic behavior of ground vehicles

Unified Lateral Motion Control Of Vehicles For Lane Change Maneuvers In Automated Highway Systems

Chee, Wonshik
Tomizuka, Masayoshi
1997

This report deals with the lateral guidance of vehicles, with focus on lane change maneuvers. Two approaches are presented for lane changes maneuvers. The first is to treat the maneuvers as a tracking control problem. A virtual desired trajectory (VDT) is used a tracking control approach. The second is to use a unified lateral guidance algorithm which consists of the desired yaw rate generator and the yaw rate tracking controller.

Robust Lateral Control of Heavy Duty Vehicles

Tai, Meihua
Wang, Jeng-Yu
White, Ryan
Tomizuka, Masayoshi
2001

In this report, achievements under MOU385, robust lateral control of heavy vehicles for automated highway systems are presented. The purpose of this project are: to design new controllers or redesign existing controllers for lateral control of heavy vehicles to improve performance; to evaluate designed controllers by experiments and to study autonomous vehicle following control. Toward this goal, we have obtained three main results during year 2000-2001, which are presented in this report.

A First Example Specification Of An Automated Freeway

Hitchcock, Anthony
1991

This paper presents a specification for an automated freeway in a fully formal manner. A series of safety analyses have been carried out on the specification. The objective of the program is to derive a technique of safety analysis for such systems. Readers are advised to consult " Methods for Analysis of IVHS Safety: Final Report of PATH MOU 19" by the author for background information to this report.