Title :
Automated vehicle control developments in the PATH program
Author :
Shladover, S.E. ; Desoer, C.A. ; Hedrick, J. Karl ; Tomizuka, M. ; Walrand, J. ; Zhang, W.-B. ; McMahon, D.H. ; Peng, H. ; Sheikholeslam, S. ; McKeown, N.
Author_Institution :
California Univ., Berkeley, CA, USA
Abstract :
The accomplishments to date on the development of automatic vehicle control technology in the Program on Advanced Technology for the Highway (PATH) at the University of California, Berkeley, are summarized. The basic principles and assumptions underlying the PATH work are identified, and the work on automating vehicle lateral (steering) and longitudinal (spacing and speed) control is explained. For both lateral and longitudinal control, the modeling of plant dynamics is described, and the development of the additional subsystems needed (communications, reference/sensor systems) and the derivation of the control laws are presented. Plans for testing on vehicles in both near and long term are discussed.<>
Keywords :
road traffic; road vehicles; telecommunication systems; traffic computer control; Berkeley; PATH; Program on Advanced Technology for the Highway; University of California; automated vehicle control; automatic vehicle control; communication systems; control laws; lateral control; longitudinal control; modeling; plant dynamics; reference systems; sensor systems; spacing control; speed control; steering control; testing; Appropriate technology; Automated highways; Automatic control; Automatic voltage control; Collaboration; Communication system control; Remotely operated vehicles; Road vehicles; Systems engineering and theory; Transportation;
Journal_Title :
Vehicular Technology, IEEE Transactions on
