Heavy traffic on highways requires the optimization of inter-distances between vehicles in order to reach time performance and to provide safety solution in transport. Variable spacing and constant spacing are the two policies for the longitudinal control of platoon. Variable spacing doesn’t require a lot of data (position, speed...) from other vehicles, and string stability using only on-board...

Reaction delays are important in determining the qualitative dynamical properties of a platoon of vehicles traveling on a straight road. In this paper, we investigate the impact of delayed feedback on the dynamics of the Modified Optimal Velocity Model (MOVM). Specifically, we analyze the MOVM in three regimes – no delay, small delay and arbitrary delay. In the absence of reaction delays, we sh...

Future transportation systems will require a number of drastic measures, mostly to lower traffic jams and air pollution in urban areas. Automatically guided vehicles capable of driving in a platoon fashion will represent an important feature of such systems. Platooning of a group of automated wheeled mobile robots relying on relative sensor information only is addressed in this paper. Each vehi...

We investigate the e ect of a number of design alternatives on the safety and capacity of an Automated Highway System. Our methodology makes use of two computational tools, designed to highlight the fundamental limitations of the vehicle dynamics, sensing and control strategies and inter-vehicle communication. The rst tool produces the minimum spacing necessary for two vehicles not to collide, ...

Additive fuzzy systems can control the velocity and the gap between cars in single lane platoons. The system consists of throttle and brake controllers. We first designed and tested a throttle-only fuzzy system on a validated car model and then with a real car on highway I-15 in California. We used this controller to drive the “smart” car on the highway in a two-car platoon. Then we designed a ...

The intelligent driver (ID) model characterizes traffic behavior with a constant acceleration exponent and does not follow physics. This results in unrealistic behavior. In this paper, new microscopic heterogeneous flow is proposed which improves the performance of ID model. forward lateral distance headways are used to characterize stability models examined over 1000 m circular road disturbanc...

This paper presents a multibaseline stereo technique specially suited to detecting obstacles. First, we describe traditional multibaseline stereo and explain why it is not suitable for obstacle detection. This analysis leads directly to a suitable method. Then we describe the obstacle detection system that we have built. Finally, we show results from our system for a variety of different obstac...

Highway pavement are deteriorating fast due to lack of timely maintenance, leading to higher vehicle operating costs, increasing number of accidents etc. Thus, timely maintenance of the highway pavement is essential. Because, once pavements start to deteriorate; they deteriorate rapidly beyond the point where maintenance is effective. Thus, there is an urgent need to develop a strategy for main...

Effects of Communication Delay and Kinematic Variation in Vehicle Platooning