Automatic vehicle guidance and control—A state of the art survey

Highway automation is an attractive possible solution to some of the problems posed by an ever-increasing number of motor vehicles, as it would probably result in substantial increases in traffic-flow rates and a dramatic reduction in the numbers of highway accidents and fatalities. One practical system involves a roadway complex of the future, consisting of both automated and nonautomated roads, which will have evolved in an orderly and progressive manner from the roadway system of today. Only the main highways would be automated, and dual-mode vehicles would be used. The two major related technical areas in this framework are the physical characteristics of the various required subsystems for vehicle guidance and control and the optimum operation of the overall highway system. The elements of the former are divided into eleven categories: automatic longitudinal control, vehicle-spacing detection, communication systems, automatic lateral control, automatic merging control, controlled lane changing, vehicle propulsion, system decision-making capability, compatible manual mode, automatic vehicle checkout, and evolutionary developments. The role and state of the art of each category are discussed in detail, together with the complex interrelationships which exist among categories. Although some research has been accomplished, substantial future research and development progress will be necessary before an automated highway system is a practical reality.