Roads/Highways

Integration of GPS/INS and Magnetic Markers for Advanced Vehicle Control Final Report for MOU 391

Farrell, Jay
Barth, Matthew
2002

This report describes the results of a project supported by California Partners for Advanced Transit and Highways (PATH). The main objective of the project is to develop and demonstrate a triple redundancy navigation system incorporating magnetometer, inertial, and carrier phase differential Global Positioning System (GPS) measurements. The motivating application for this project is lateral vehicle control. Therefore, the system was design to operate reliably whether or not GPS and magnetometer measurements were available. The navigation system provides vehicle position, velocity,...

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.

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...

Improved Analysis Methodologies and Strategies for Complete Street

Fournier, Nicholas
Huang, Amy
Skabardonis, Alexander
2021

Complete streets movement is a national effort to return to traditional streets in our cities to enhance livability, safely, accommodate all modes of travel, provide travel choices, ease traffic congestion, and promote healthier communities. The California Department of Transportation (Caltrans) and several local agencies in the State have developed implementation plans for complete streets. In this project, we developed and tested improved strategies and analysis methodologies for complete streets, taking into consideration the emerging advances in technology on control devices and data...

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: 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...

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...

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...

Connected and Automated Vehicle Policy Development for California

Shladover, Steven
2017

Connected and automated vehicles (CAV) have the potential to confer large benefits to California in economic development (job creation) and in improving the operation of its road transportation network. CAV systems are likely to become one of the most important application domains for modern information technology, employing large numbers of highly skilled people in research, development and implementation wherever the companies that are developing these systems find the local environment most hospitable. The CAV systems are expected to produce significant improvements in roadway capacity...