PATH

Lateral Control of Heavy Vehicles for Automated Systems

Hingwe, Pushkar
Wang, Jen-Yu
Tai, Meihua
Tomizuka, Masayoshi
2003

This is the final report for MOU 313, "Lateral Control of Heavy Vehicles for Automated Highway Systems". It address the following task items: Analysis and synthesis of control algorithms based on system identification and calibration results (Task 4. in the MPU), Closed loop results at highway speeds (Task 5), limits and persormance of sensors, actuators and control schemes as infered from data collected during closed loop experiments at 55 MPH (task 6) and baseline safety requirements based on closed loop data (task 7) Five controllers were designed based on the model identification study...

Qualitative Analysis on the Performance of Non-uniform Platoons: Report I; Non-uniformities and Performance Issues

Tongue, Benson H.
Packard, Andy
Sachi, Paul
1997

This is the first of two reports in which we detail the accomplishments and findings of a two-year research project aimed at determining control and spacing strategies as well as developing performance issues for automated vehicles traveling in platoons under non-uniform conditions. The first phase of the research was geared toward determining parameter uncertainty ranges for a given model and expected disturbances that materially affect the behavior of a vehicle in a platoon. Once this was completed, the relevant criteria for determining platoon performance were investigated. A simulation...

Vehicle Assist and Automation Demonstration Report

California Department of Transportation (Caltrans)
Partners for Advanced Transportation Technology (PATH)
2017

Vehicle Assist and Automation (VAA) systems enable lane-keeping and precision docking of transit vehicles. They offer the opportunities of providing high-quality transit service within reduced lane widths. Sponsored by the United States Department of Transportation, this VAA project aimed to demonstrate the technical merits and feasibility of VAA applications in bus revenue service. The VAA Demonstration project was carried out through the four phases of design, development, deployment, and operational tests. In the design phase, the system architecture and requirements were finalized, and...

Development of Deployment Strategy for an Integrated BRT System

Miller, Mark A.
Tan, Chin-Woo
Golub, Aaron
Hickman, Mark
Lau, Peter
Zhang, Wei-Bin
2006

BRT mixes the flexibility of traditional bus transit service with an array of higher performance rail transit features. One of its advantages over rail, however, is its possibility for incremental and flexible deployment. With this flexibility and incremental nature comes a deployment process for BRT that is highly complex because numerous elements can be incorporated in any number of distinct phases. In almost all BRT deployments, ITS and advanced bus technologies have been applied to BRT, however, in less than a fully integrated manner. This project explores how deployment decisions can...

Lateral Control Of Heavy Duty Vehicles For Automated Highway Systems

Tai, M.
Wang, J.-y.
Hingwe, P.
Chen, C.
Tomizuka, M.
1998

This report presents a linear analysis of a tractor semitrailer model. The analysis is followed by the design of a simple linear controller for lane following. Offtracking analysis is presented for a single unit vehicle and tractor semitrailer. This analysis is independent of the control design. Modeling of multi-unit articulated vehicles is also presented. Both a complex simulation model and a simplified control design model are derived for a general road train.

The Naturalistic Driver Model: Development, Integration, and Verification of Lane Change Maneuver, Driver Emergency and Impairment Modules: Final Report

Cody, Delphine
Tan, Swekuang
2009

This report describes the development of a driver model from a Human Science perspective, with the goal of integrating this model into a simulation environment supporting the design and support of Intelligent Transportation Systems. It also provides a discussion regarding the challenges faced in such an enterprise, concluding with a discussion concerning the need to develop a driver simulator.

An Experimental Study On Lateral Control Of A Vehicle

Hessburg, Thomas
Peng, Huei
Tomizuka, Masayoshi
Zhang, Wei-bin
1991

Addresses issues regarding the implementation of an integration of several specific technologies involved in achieving lateral guidance of an experimental automotive vehicle on an automated highway. Results demonstrate the feasibility of the proposed discrete magnetic marker reference/sensing system. In addition, the performance and limitations of a PID/feedforward controller is investigated with respect to tracking accuracy of straight and curved sections as well as robustness to changes in load, longitudinal velocity, and cornering stiffness.

Turning Movement Estimation In Real Time (TMERT)

Martin, Peter T.
1995

This report describes the development of a new model that can monitor system performance and derive management and control strategies in real time. It presents the TMERT (Turning Movement Estimation in Real Time) model, a method of estimating turning movement flows from link detected flows at small recurrent intervals, in real time.

Development of an Integrated Microscopic Traffic Simulation and Signal Timing Optimization Tool

Yin, Yafeng
Liu, Henry X.
Laval, Jorge A.
Lu, Xiao-Yun
Li, Meng
Pilachowski, Joshua
Zhang, Wei-Bin
2007

A big segment of the traffic signal control systems in California and United States are closed-loop systems. Because wide-scale deployment of advanced adaptive control systems may be many years away due to the associated high costs, there is a significant need to improve the effectiveness of the state-of-the-practice closed-loop systems. To address the need, this project focuses on: 1) developing an integrated micro-simulation/signal optimization tool to enhance the capability of generating efficient signal timing plans, and 2) developing a systematic approach to make closed-loop systems...

Implementation of Advanced Techniques for Automated Freeway Incident Detection

Abdulhai, Baher
Ritchie, Stephen G.
Iyer, Mahadevan
1999

A significant body of research on advanced techniques for automated freeway incident detection has been conducted at the University of California, Irvine (UCI). Such advanced pattern recognition techniques as artificial neural networks (ANNs) have been thoroughly investigated and their potential superiority to other techniques has been demonstrated. Of the investigated ANN architectures, two have shown the best potential for real-time implementation: namely, the Probabilistic Neural Network (PNN), (Abdulhai and Ritchie 1997), and the Multi-Layer-Feed-Forward Neural Network (MLF), (Cheu and...