PATH

Development and Implementation of a Vehicle-Centered Fault Diagnostic and Management System for the Extended PATH-AHS Architecture: Part II

Yi, Jingang
Suryanarayanan, Shashikanth
Howell, Adam
Horowitz, Roberto
Tomizuka, Masayoshi
Hedrick, Karl
2002

This project is a continuation of MOU 373. It concludes ongoing research to extend and integrateexisting results on fault diagnostic and fault management research, and develop a comprehensivefault management system. Features include a multi-layer fault diagnostic and management system,diagnosis of faults in the sensors and actuators of the lateral and longitudinal control systems, detec-tion of faults in the most vital sensors and actuators, and development of a systematic methodologyfor processing diagnostic residues. Experimental implementation and testing of the completed sys-tem is...

Development of Requirement Specifications for Transit Frontal Collision Warning System

Wang, Xiqin
Lins, Joanne
Chan, Ching-Yao
Johnston, Scott
Zhou, Kun
Steinfeld, Aaron
Hanson, Matt
Zhang, Wei-Bin
2003

The U.S. Department of Transportation (US DOT) initiated the Intelligent Vehicle Initiative (IVI) Program with the goal of improving safety through the application of advanced technologies. The frontal collision warning function has been identified as one of the key safety improvement measures for the transit vehicle platform of the IVI Program. Frontal collision, defined as a bus colliding with a vehicle in front of the bus, is a frequent incident in transit bus operations and the cause of property damage, personal injuries, and interruption to bus operations. A team that includes San...

PEDAMACS: Power Efficient and Delay Aware Medium Access Protocol for Sensor Networks

Coleri, Sinem
Varaiya, Pravin
2004

We consider a class of sensor networks with two special characteristics. First, the nodes periodically generate data for transfer to a distinguished node called the access point. Second, the nodes are (transmit) power and energy limited, but the access point, which communicates with the ‘outside world’, is not so limited. Such networks might be used for instance when a geographically distributed physical process, such as traffic on a freeway or at an urban street intersection, is periodically sensed for purposes of process control. We propose a medium access control scheme, called PEDAMACS...

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

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

This report concerns vehicle fault detection and identification. A vehicle health monitoring approach based on analytical redundancy is described. To detect and identify actuator and sensor faults, fault detection filters and parity equations are developed for the longitudinal dynamics of the PATH Buick LeSabre. 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. Fault detection filters and...

Development of Binocular Stereopsis for Vehicle Lateral Control, Longitudinal Control and Obstacle Detection

Malik, Jitendra
Kosecka, Jana
Taylor, Camillo J.
McLauchlan, Philip
1999

This nal report describes the application of computer vision techniques to the lateral and longitudinal control of an autonomous highway vehicle. In the part of the project we focused on an analysis of the vehicle's lateral dynamics and the design of an appropriate controller for lateral control and investigated various static feedback strategies where the measurements obtained from vision, namely o set from the centerline and angle between the road tangent and the orientation of the vehicle at some look-ahead distance, are directly used for control. The role of the look-ahead, its...

Deployment Paths of ATIS: Impact on Commercial Vehicle Operations, Private Sector Providers and the Public Sector

Regan, Amelia C.
Golob, Thomas F.
2022

Most studies of the economic benefits of Advanced Traveler Information Systems (ATIS) have focused on the passenger transportation market. Few analyses have addressed the applications of ATIS to freight operations even though using ATIS to route or divert commercial vehicles can make a significant improvement in overall traffic flow and system performance. In this study, multivariate demand models were estimated based on large-scale surveys of commercial vehicle operators in California to determine the current use and perceptions of advanced information technologies, especially advanced...

Streamlining Connected Automated Vehicle Test Data Collection and Evaluation in the Hardware-in-the-Loop Environment

Fu, Zhe
Liu, Hao, PhD
Lu, Xiao-Yun, PhD
2020

Quality data collection, processing, and analysis are foundational to good research, policy making and regulation development. With the rapid development of Connected Automated Vehicles (CAV) technologies, it is urgent for both researchers and policy makers to obtain and evaluate good quality CAV data to better understand CAV impacts. CAV hardware-in-the-loop (HIL) tests can expedite CAV performance evaluation and system implementation. This research aims at equipping an existing HIL test tool with data management functions. To this end, a database instance on MySQL has been integrated...

Evaluation Of Mixed Automated/manual Traffic

Ioannou, Petros
1998

The advance in research and development will make the deployment of automated vehicles a reality in the near future. The principal question is whether these technologies will lead to any benefits in terms of safety, capacity and traffic flow characteristics as they penetrate the current transportation system. Another aspect is how to exploit these technologies in order to achieve benefits without adversely affecting the efficiency of the current transportation system and the drivers who cannot afford them. The penetration of automated vehicles into the existing transportation system will...

Fault Detection And Identification With Application To Advanced Vehicle Control Systems

Douglas, Randal K.
Chung, Walter H.
Malladi, Durga P.
Chen, Robert H.
Speyer, Jason L.
Mingori, D. Lewis
1997

This report continues work on the design of a health monitoring system for automated vehicles. The approach is designed to fuse data from dissimilar instruments using modeled dynamic relationships and fault detection and identification filters. Issues relating to sensor models, output separability, steady-state fault persistence and the spectral content of sensor faults are considered.

Enhanced AHS Safety Through the Integration of Vehicle Control and Communication

Hedrick, J. K.
Sengupta, R.
Xu, Q.
Kang, Y.
Lee, C.
2003

In fiscal year 2002/2003 we finished the study of the effect of vehicle-vehicle/vehicle-roadside communication on the performance of adaptive cruise control (ACC) systems. Two simulation studies were finished. The first is a single ACC vehicle simulation using MATLAB/SIMULINK. A cut-in scenario and a braking scenario are tested. Communication greatly saves control effort in the former scenario, while it has little effect in the latter. The other work simulates ACC controlled highway merging using SHIFT language. The results show the beneficial effects of communication in terms of the...