Manoeuvre generation and control for automated highway driving

Intelligent Control of Road Vehicles for Automated Driving: Path Architecture for Automated Highway Systems and Lateral Guidance

Fault-Tolerant Control for Automated Highway Systems

Increasing highway traffic congestion and real estate costs that limit the building of new highways has brought about a renewed interest in an Automated Highway System (AHS) where the vehicle steering task (“lateral control”) and the braking/throttle tasks (“longitudinal control”) are taken over by computers to increase the throughput of existing highways. Since safety plays a key role in the d...

Driving on the Highway Driving on the Highway

| This paper deals with a particular kinodynamic 4] trajectory planning problem that we call thèhighway problem'. It consists in planning a time-optimal trajectory for a vehicle which is travelling in a structured workspace amidst other vehicles and is subject to constraints on its velocity and acceleration. By structured workspace, we mean that there exists lanes within which the vehicles are ...

Emergency vehicle maneuvers and control laws for automated highway systems

The operation and transit of emergency vehicles on an automated highway system (AHS) designed under the control architecture proposed in the California Partners for Advanced Transit and Highways (PATH) program is described. The term emergency vehicles is used in a general sense to describe vehicles, such as police cars, ambulances, and tow trucks, that may service faults inside or outside the A...

Vehicle control for automated highway systems for improved lateral maneuverability

A b s t r a c t In this paper, longitudinal and lateral vehicle control for Automated Highway Systems (AHS) are studied together for their coupling effects. It is shown that longitudinal controllers which directly control the wheel slip are inherently more stable, especially during lateral maneuvers on very slippery road conditions, than longitudinal controllers which do not take wheel slip int...