Connected and Automated Vehicles

Lean Machines: Preliminary Investigations

Garrison, William Louis
Pitstick, Mark E.
1990

This report provides information on a study assessing the potential for the transition of the fleet of highway vehicles to lean vehicles (General Motors Lean Machine). The report provides information on the organization of the study and the results of preliminary explorations of parking, ownership and operating, and highway capacity topics. In addition, a discussion paper provides a broad brush treatment of topics bearing on the adoption and use of the lean vehicles in California.

Analysis, Design, and Evaluation of AVCS for Heavy-Duty Vehicles with Actuator Delays

Yanakiev, Diana
Eyre, Jennifer
Kanellakopoulos, Ioannis
1998

This report focuses on the design of longitudinal control algorithms for commercial heavy vehicles (CHVs). The algorithms use nonlinear spacing policies, backstepping control design, and aggressive prediction schemes to deal with the presence of significant delays and saturations in the fuel and brake actuators. The algorithms can also deal with delays both in the presence and in the absence of intervehicle communication. A by-product on this research is the development of two software packages, Platoon-Builder and TruckVis, for simulation and animation of CHV platoons. Additionally,...

Safety Analysis of Automated Highway Systems

Leveson, Nancy G.
1997

This report focuses on the safety analysis techniques and tools as they are applied to Automated Highway Systems (AHS). The report begins with a description of the AHS model. This is followed by a discussion of the basic features of Requirements State Machine Language (RSML) relevant to the model. The report concludes with a description of the safety analysis techniques, including forward and backward simulation, generation of fault trees, and consistency and completeness analysis..

Fault Tolerant Lateral Control for Transit Buses and Trucks

Suryanarayanan, Shashikanth
Hsiao, Tesheng
Tomizuka, Masayoshi
2004

This report documents the research results of Task Order 4205 (TO4205), Fault Tolerant Lateral Control for Transient Buses and Trucks performed during 2000-2003. In this task order, we studied the procedures for designing real-time lateral control systems for automated vehicles that are not sensitive to failures of the two key components: a set of magnetometers at the front bumper and another set at the rear bumpers. This problem is important because failures related to either front or rear magnetometers may have immediate effect on the stability of the closed loop control system.

Feasibility Study of Advanced Technology HOV Systems: Volume 2b: Emissions Impact of Roadway-Powered Electric Buses, Light-Duty Vehicles, and Automobiles

Miller, Mark A.
Dato, Victor
Chira-chavala, Ted
1992

This study investigates issues concerning the implementation and impacts of lateral guidance/control systems and the phased implementation of these systems in exclusive-access High Occupancy Vehicle (HOV) lanes. The study is divided into 5 volumes. The objectives of each volume are as follows: Vol. 1: identify strategies for early deployment of longitudinal control technologies on the highway, and to evaluate potential impacts of these strategies on traffic operation, highway capacity, and traffic accidents. Vol. 2A: assess the feasibility of early deployment of Roadway Powered Electric...

Collision Analysis Of Vehicle Following Operations By Two-dimensional Simulation Model: Part II- Vehicle Trajectories With Follow-up Maneuvers

Chan, Ching-Yao
1997

This paper discusses the effects of collisions in vehicle-following operations, especially for short-spacing scenarios. The collision analysis is conducted with a two-dimensional simulation program by which the translational and rotational movements of vehicles can be fully represented. Also presented are simulation scenarios where control actions are taken in post-impact conditions. The potential implications and the effects of these maneuvers on the vehicle trajectories are investigated. The studies of these post-impact maneuvers offer a perspective on the possible actions for vehicles...

Vehicle Control Design for Infrastructure Managed Vehicle Following

Raza, H.
Ioannou, P.
1996

The purpose of this paper is to design and test a vehicle control system in order to achieve full vehicle automation in the longitudinal direction for several modes of operation, where the infrastructure manages the vehicle following. A supervisory controller is designed to provide the required intelligence for the modes. The controller process input and sends the appropriate commands to the brake and throttle controllers. It makes decisions about normal, emergency and transition operations so that the resulting motion of vehicle is safe and follows Automated Highway System (AHS)...

Restructuring the Automobile/Highway System for Lean Vehicles: The Scaled Precedence Activity Network (SPAN) Approach

Pitstick, Mark E.
Garrison, William L.
1991

This paper studies relative time savings between vehicles unequipped and equipped with route guidance and navigation systems. In particular, the report investigates to what extent relative travel time savings decrease as the percentage of equipped vehicles increases. In addition, some other potential services that can be provided by navigation systems are identified. The report focuses on benefits for commuters, although some results are applicable for other users.

Human Driver Model for SmartAHS

Delorme, Delphine
Song, Bongsob
2001

PATH AVCSS researches have been traditionally oriented toward automatic vehicle design. Recently, the field of investigation has been extended from Automated Highway System (AHS) to assistance driving systems. One of the tools built at PATH for automatic system design and assessment is SmartAHS. SmartAHS is a micro-simulation tool dedicated to the simulation of automatic vehicles and has shown to be very useful for fully automatic system simulation. These simulations permit researchers to evaluate the impact of such system on throughput improvement. In order to apply the same method to the...

Integration of Fault Detection and Identification into a Fault Tolerant Automated Highway System: Final Report

Chen, Robert H.
Ng, Hok K.
Speyer, Jason L.
Mingori, D. Lewis
2002

This report is continuation of the work of (Douglas et al., 1996) and (Douglas et al., 1997) which concerns vehicle fault detection and identification. A vehicle health monitoring approach based on analytical redundancy is described. Fault detection filters and parity equations use the control commands and sensor measurements to generate the residuals which have a unique static pattern in response to each fault. This allows the faults not only to be detected, but also identified. Sensor noise, process disturbances, system parameter variations, unmodeled dynamics and nonlinearities can...