The main objective of this study was to develop an automated agricultural vehicle guidance system that can be easily transplanted from vehicle to vehicle. The proposed solution to this problem is to first perform a tractor model identification, and then use a pole placement technique to place the closed loop dominant poles in their desired locations. One of the most difficult aspects of designi...

Three results pertaining to lateral control of heavy duty vehicles on Automated Highway System are presented. First, a time domain, frequency domain and pole/zero analysis of the linearized model for lateral control of tractor-trailer vehicles is presented. The steering response subject to variation of speed, road adhesion and look-ahead distance is studied. Based on the analysis, a simple base...

SmartAHS is a software framework for the uniform speciication, simulation, and objective evaluation of Intelligent Vehicle Highway System (IVHS) alternatives. This paper illustrates the use of the object-oriented paradigm in its design, implementation and use. Objective comparison of proposed highway automation alternatives is achieved, when all control architectures are speciied in SmartAHS. T...

This paper presents a theory for automated tra c ow based on an abstraction of vehicle activities like entry exit and cruising derived from a vehicle s automatic control laws An activity is represented in the ow model by the space occupied by a vehicle engaged in that activity The theory formulates TMC tra c plans as the speci cation of the activities and speed of vehicles and the entry and exi...

The contents of this report reflect the views of the authors who are responsible for the facts and the accuracy of the data presented herein. The contents do not necessarily reflect the official views or policies of the State of California. This report does not constitute a standard, specification, or regulation. Abstract This report is concerned with lane change maneuver in automated highway s...

Sensor technology plays a critical role in the operation of the Automated Highway System (AHS). The proposed concepts depend on a variety of sensors for positioning, lane-tracking, range and vehicle proximity. Since large subsystems of the AHS will be designed and evaluated in simulation before deployment, it is important that simulators make realistic sensor assumptions. Unfortunately, the cur...

In a fully automated Automated Highway System (AHS), the roadside control system and the vehicles themselves are responsible for moving the large number of vehicles safely and efficiently. Therefore, the task of operating an AHS is drastically different from and much more complex than its conventional counterpart. Resulting from a large number of design options, there exist many possible ways t...

This paper presents a theory for automated traffic flow, based on an abstraction of vehicle activities like entry, exit and cruising, derived from a vehicle’s automatic control laws. An activity is represented in the flow model by the space and time occupied by a vehicle engaged in that activity. The theory formulates Traffic Management Center (TMC) plans as the specification of the activities ...

In this report, we present a methodology for assessing the benefits of different vehicle coordination strategies on the safety of a platoon during emergency braking. One can say that a coordinated braking strategy B is more beneficial than a strategy A, if strategy B leads to a larger reduction in the probability of a collision, the expected number of collisions, and the expected relative veloc...