Hybrid Controllers for Automated Vehicles

The objective of an Automated Highway System (AHS) is to increase the safety and through-put of the existing highway infrastructure by introducing traac automation. AHS is an example of a large scale, multi-agent, complex dynamical system and is ideally suited for a hierarchical hybrid controller. We discuss the design of safe and eecient hybrid controllers for regulation of vehicles on an AHS. We use game theoretic techniques to deal with the multi-agent and multi-objective nature of the problem. The result is a hybrid controller that by design guarantees safety, without the need for further veriication. The calculations also provide an upper bound on the performance that can be expected in terms of throughput at various levels of centralization.