PATH

Heavy Vehicle Automation: Transitioning from Civilian to Military Applications

Misener, James A.
Shladover, Steven E.
Empey, Dan
Tan, Han-Shue
2001

We describe potential military robotics applications for the heavy vehicle automation and driver assistance research that has been conducted on at the California Partners for Advanced Transit and Highways (PATH). Specifically, we summarize the state of vehicle automation research at PATH by beginning with a short description of automated platoon operations with eight light duty passenger vehicles. Then we focus on automation of a Class 8 Freightliner Model FLD 125 tractor with 45-ft trailer, and lateral driver assist installed in a 10-wheel International snowplow. We also discuss full...

PATH Investigations in Vehicle-Roadside Cooperation and Safety: A Foundation for Safety and Vehicle-Infrastructure Integration Research

Misener, J.A.
Shladover, S.E.
2006

The California Partners for Advanced Transit and Highways (PATH) has been active in researching vehicle-roadside cooperation since 1988. Through the years PATH's work in automation has spawned a considerable body of research in related topics of safety and vehicle-infrastructure cooperation. These topics are summarized by exemplar projects in areas of heavy vehicle driver assistance, cooperative forward collision avoidance, intersection safety and vehicle-infrastructure integration. While this review is by no means comprehensive, it illustrates the past, present and future of PATH and...

3/2–Approximation Algorithm for Two Variants of a 2-Depot Hamiltonian Path Problem

Rathinam, Sivakumar
Sengupta, Raja
2010

We consider two variants of a 2-depot Hamiltonian path problem and show that they have an algorithm with an approximation ratio of 32 if the costs are symmetric and satisfy the triangle inequality. This improves the 2-approximation algorithm already available for the problem.

Cooperative Collision Warning: Enabling Crash Avoidance with Wireless Technology

Misener, James A.
Sengupta, Raja
Krishnan, Hariharan
2005

In this paper we present an overview of the Cooperative Collision Warning (CCW) project conducted by the University of California Partners for Advanced Transit and Highways (PATH) program and General Motors Research and Development which examined and demonstrated wireless-enabled vehicle-to-vehicle cooperative safety systems for collision warning. We developed and demonstrated three Cooperative Collision Warning safety applications: a forward collision warning assistant, an intersection assistant, along with a blind-spot and lane change “situational awareness” assistant. The combination...

VII California: Development and Deployment Proof of Concept and Group-Enabled Mobility and Safety (GEMS)

Misener, Jim
Sengupta, Raja
Ahern, Katherine
Gupta, Somak Datta
Dickey, Susan
Kuhn, Tom
Lian, Thang
Manasseh, Christian
Nelson, David
Rezai, Shahram
Sharafsaleh, Ashkan
Shladover, Steven
VanderWerf, Joel
2010

This PATH Research Report covers the (Vehicle-Infrastructure Integration) VII California Development and Deployment (Task Order6217) efforts beginning in 2008 and concluding June 30, 2009. This is a successor to the report for TO 5217and reports theapplications-oriented research subsequent to that work.The report is organized by a synopsis of the background and reasons for the VII California project, then it summarizes some of the antecedent (TO 5217) work: the "Innovative Mobility Showcase" (2005), which established the architecture and, importantly the applications (curve overspeed...

Expediting Vehicle Infrastructure Integration (EVII): Where the Rubber Meets (and Talks to) the Road

Varaiya, Pravin P
2006

This research demonstrated two potential VII (vehicle-infrastructure integration) services, one in traffic data probes and the other with safety. A real private vehicle, operating on California roadways, “talked” to the roadside, with the roadside backhaul interfacing into an existing California Department of Transportation (Caltrans) database and archival application. Demonstration of a probe application showed great promise for supplementing Caltrans’ database with VII- or DSRC-based probe data. Similar promise was shown with a road condition monitoring system, which demonstrated the...

Single-Channel IVHS Communication Architecture

Linnartz, Jean-paul M. G.
1994

This report documents a single-channel architecture offering two-way communication between vehicles and a fixed communication infrastructure. Part I discusses the technical advantages and disadvantages of a dedicated Intelligent Vehicle Highway Systems (IVHS) communications infrastructure versus the use of a hybrid system involving several existing communication networks. Aspects such as spectrum efficiency, message capacity, and network performance are described. Part II proposes a network architecture that offers several transmission services essential to IVHS communications, using only...

Fault Detection and Identification with Application to Advanced Vehicle Control Systems: Final Report

Douglas, R. K.
Speyer, J. L.
Mingori, D. L.
Chen, R. H.
Malladi, D. P.
Chung, W. H.
1996

This study reports on a preliminary design of a health monitoring system for automated vehicles. A new detailed nonlinear vehicle simulation which extends the current simulation is documented and will be used as a future testbed for evaluating the performance of the health monitoring system. A health monitoring system has been constructed for the lateral and longitudinal modes that monitors twelve sensors and three actuators. The approach is to fuse data from dissimilar instruments using modeled dynamic relationships and fault detection and identification filters.

Longitudinal Control of Heavy Duty Vehicles: Experimental Evaluation

Yanakiev, Diana
Eyre, Jennifer
Kanellakopoulos, Ioannis
1998

This report describes the results of experimental evaluation of longitudinal control algorithms for commercial heavy vehicles (CHVs). Given the problem of delays in the fuel and brake actuators of automated CHVs, the researchers present improved modeling of air brakes for CHVs, and novel nonlinear algorithms for the longitudinal control of CHVs without intervehicle communication. The significance of these results in terms of Intelligent Transportation Systems (ITS) deployment is that one of the major obstacles to autonomous vehicle following for CHVs has now been removed The authors also...

Traffic Management Systems Performance Measurement: Final Report

Banks, James H.
Kelly, Gregory
1997

This report documents a study of performance measurement for Transportation Management Centers (TMCs). Performance measurement requirements were analyzed, data collection and management techniques were investigated, and case study traffic data system improvement plans were prepared for two Caltrans districts.