Connected and Automated Vehicles

A Staggered-diamond Design For Automated/manual - Hov Highway-to-highway Interchange

Tsao, Jacob
1995

This paper proposes a staggered-diamond design for automated connector ramps for an Automated Highway System (AHS). After describing the main features of this design, the paper discusses the constraints on AHS operational design imposed by the requirement for continuous automated highway-to-highway driving. The constraints on AHS evolution due to the same requirement are then discussed.

Analysis of Traffic Flow With Mixed Manual and Intelligent Cruise Control Vehicles: Theory and Experiments

Bose, Arnab
Ioannou, Petros
2001

During the last decade considerable research and development efforts have been devotedto automating vehicles in an effort to improve safety and efficiency of vehicular traffic.While dedicated highways with fully automated vehicles is a future objective, theintroduction of Intelligent Cruise Control (ICC) vehicles on current highways designed tooperate with manually driven vehicles is a realistic near term objective. The purpose ofthis report is to analyze the effects on traffic flow characteristics and environment whenICC vehicles with automatic vehicle following capability (in the same...

Modeling And Control Of Articulated Vehicles

Chen, Chieh
Tomizuka, Masayoshi
1997

This report focuses on dynamic modeling and lateral control of commercial heavy-duty vehicles for highway automation. Two types of dynamic models are developed in the study of lateral control of tractor-semitrailer vehicles in an Automated Highway System (AHS): a complex simulation model and two simplified control models. Two control algorithms for lateral guidance are designed. The first is a baseline steering control algorithm and the second is a coordinated steering and independent braking control algorithm.

Evaluation of Bus and Truck Automation Operations Concepts

Tsao, H. S. Jacob
Zhang, Lan
Lin, Lin
Batni, Deepa
2004

Traffic congestion will continue to worsen and likely worsen at a faster rate than ever. People throughput and freight throughput have become critical issues for California and the rest of the nation. PATH has funded with approximately $125K a research project entitled "Evaluation of Bus and Truck Automation Scenarios" jointly proposed by Jan Botha (Principal Investigator) of Department of Civil and Environmental Engineering and Jacob Tsao (Co-PI) of Department of Industrial and Systems Engineering at San Jose State University. This report summarizes the major findings of the research...

Testing and Evaluation of Robust Fault Detection and Identification for a Fault Tolerant Automated Highway System: Final Report

Chen, Robert H.
Ng, Hok K.
Speyer, Jason L.
Mingori, D. Lewis
2004

This report concerns vehicle fault detection and identification. The design of a vehicle health monitoring system based on analytical redundancy approach is described. A residual generator and a residual processor are designed to detect and identify actuator and sensor faults of the PATH Buick LeSabre. The residual generator, which includes fault detection filters and parity equations, uses the control commands and sensor measurements to generate the residuals which have a unique static pattern in response to each fault. Then, the residual processor interrogates the residuals by matching...

Personalized Demand-Responsive Transit Service

Cayford, Randall
Yim, Y. B. Youngbin
2004

Providing easy access to the public transit service is the goal of the California transit agencies. Many travelers cannot take an express transit because they often cannot park and ride. Smart DRT (demand responsive transit) Feeder is a system that collects transit riders from neighborhoods and takes them to transit stations. This system will use APTS (Advanced Public Transit System) technologies to make the feeder service convenient and reliable. The concept is very simple. When demand is high, Smart Feeder will use the fixed-route fixedschedule service. When demand is low, it will use...

Vehicle Lane Change Maneuver In Automated Highway Systems

Chee, Wonshik
Tomizuka, Masayoshi
1994

In this report, lane change maneuver for an automated highway system is investigated as a tracking problem with respect to the virtual desired trajectory (VDT). The two main issues discussed in the report are: 1) design of virtual desired trajectory and 2) design of control algorithms. Four types of desired trajectories are considered. The use of onboard sensors for closed loop control are used. Three closed loop controllers, based on 1) linear quadratic (LC) optimal control, 2) frequency shaped linear quadratic (FSLQ), and 3) sliding mode control are evaluated. Simulation results show...

Development Of Binocular Stereopsis For Vehicle Lateral Control, Longitudinal Control And Obstacle Detection

Malik, Jitendra
Taylor, Camillo J.
Mclauchlan, Philip
Kosecka, Jana
1997

This report describes progress in the application of computer vision techniques to the lateral and longitudinal control of an autonomous highway vehicle. A vehicle's lateral dynamics and the design of an appropriate controller for lateral control are investigated. Stereo vision, in conjunction with a scanning laser radar sensor, are studied for providing range information applicable to the longitudinal control problem. The results from the experimental demonstration of this system are reported as part of the National Automated Highway Systems Consortium (NAHSC) Demonstration that took...

Design And Implementation Of Digital Radio Communications Link For Platoon Control

Li, Wei-yi
1995

This report discusses the design and implementation of inter-vehicle communication systems used in the longitudinal control platoon experiments conducted by PATH (Partners for Advanced Transit and Highways). In the first section of the report, the inter-vehicle communication links implemented in both the two and four vehicles platoon experiments are examined. Lastly, this report investigates some possible future improvements of the communication link used for platoon control experimentation.

Task A-2: Implementation and Management of Electronic Roadway Tolling: Lessons from Successful Cases

Kalauskas, Rebecca
Taylor, Brian D.
Iseki, Hiroyuki
2009

Over the past decade road pricing has moved from the drawing board to practice in projects large and small around the world. But while interest in and experience with electronic roadway tolling is on the rise, political acceptance is not yet widespread and standard models of implementation and management have yet to evolve. Accordingly, this report examines a variety of road pricing projects– some that were smoothly implemented, and others that encountered significant obstacles along the way. Based on these cases and a thorough review of the literature, we draw lessons to guide future...