Design of an extended architecture for degraded modes of operation of IVHS

This paper presents a hierarchical control architecture for dealing with faults and adverse environmental conditions on an automated highway system (AHS). The authors´ design builds on a previously developed control architecture for normal operating conditions. The faults considered in the extended architecture are classified by capabilities remaining on the vehicle or roadside after the fault has occurred. The set of available capabilities is used by supervisors in each of the layers of the hierarchy to select appropriate control strategies. The authors outline the control strategies needed by the supervisors and give examples of their detailed operation