Analysis and verification of the PATH AHS coordination-regulation layers hybrid system

Author

Alvarez, Luis ; Horowitz, Roberto

Author_Institution

Dept. of Mech. Eng., California Univ., Berkeley, CA, USA

Volume

4

fYear

1997

fDate

4-6 Jun 1997

Firstpage

2460

Abstract

The design of safe velocity tracking controllers for the regulation layer maneuvers in the PATH automated highway system (AHS) hierarchical architecture is addressed. The notion of safety used is related to the absence of collisions that exceed a given relative velocity threshold. These controllers attempt to complete maneuvers in minimum time without compromising safety by keeping the maneuver trajectory inside a state dependent safety region. Simulation results are presented

Keywords

automated highways; hierarchical systems; nonlinear control systems; position control; road traffic; safety systems; tracking; velocity control; PATH automated highway system; backstepping; coordination-regulation layers; hierarchical architecture; hybrid system; nonlinear control system; platoon; road traffic; safe control; safety; velocity tracking control; Acceleration; Automated highways; Control systems; Mechanical engineering; Motion control; Safety; Tracking; Vehicle dynamics; Vehicles; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 1997. Proceedings of the 1997

Conference_Location

Albuquerque, NM

ISSN

0743-1619

Print_ISBN

0-7803-3832-4

Type

conf

DOI

10.1109/ACC.1997.609202

Filename

609202