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Coordinating Automated Vehicles via Communication

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  • Bana, Soheila Vahdati

Abstract

This dissertation addresses the coordination of automated vehicles in an Auto- mated Highway System (AHS). Tra c in an AHS is organized as tightly spaced platoons to increase road capacity and safety. Vehicles in AHS are automated and their safe interaction is the subject of this research. This dissertation discusses issues in the design and imple- mentation of a controller for automated vehicles that coordinates the interaction between vehicles. We rst de ne a formalism for safe interaction of automated vehicles and then design a controller algorithm for an individual vehicle that guarantees such safe interaction. The algorithm for the vehicle controller requires real-time information about the relative positions and planned actions of its neighboring vehicles. Therefore, a communication struc- ture is needed to provide this information. We propose a communication structure of local and wide area networks, LANs and WANs, that allows automated vehicles to exchange this information. We also explain communication address resolution in the context of AHS and propose address resolution schemes for one-lane and multi-lane AHS. The scheme for a multi-lane AHS is space-time division multiple access (STDMA) which is an innovative solution to control multiple user access to the communication channel. Finally, we present a vehicle positioning system by using spread spectrum magnetic signals which is used in STDMA communication and coordination control.

Suggested Citation

  • Bana, Soheila Vahdati, 2001. "Coordinating Automated Vehicles via Communication," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt1ks2m1f4, Institute of Transportation Studies, UC Berkeley.
  • Handle: RePEc:cdl:itsrrp:qt1ks2m1f4
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    References listed on IDEAS

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    1. Bana, Soheila V. & Varaiya, Pravin, 1999. "Address Resolution in One Lane Automated Highway Systems," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt6jw2n9m8, Institute of Transportation Studies, UC Berkeley.
    2. Randolph W. Hall, 1995. "Longitudinal and Lateral Throughput on an Idealized Highway," Transportation Science, INFORMS, vol. 29(2), pages 118-127, May.
    3. Varaiya, P. P. & Shladover, Steven E., 1991. "Sketch Of An Ivhs Systems Architecture," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt5jh5n9w1, Institute of Transportation Studies, UC Berkeley.
    4. Godbole, Datta N. & Lygeros, John & Sastry, Shankar, 1995. "Hierarchical Hybrid Control: A Case Study," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt8jm7h7h7, Institute of Transportation Studies, UC Berkeley.
    5. Varaiya, Pravin, 1994. "Models, Simulation, And Performance Of Fully Automated Highways," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt1p10g5r4, Institute of Transportation Studies, UC Berkeley.
    6. Godbole, Dattaprabodh Narhar, 1995. "Hierarchical Hybrid Control Of Automated Highway Systems," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt8m39m6dq, Institute of Transportation Studies, UC Berkeley.
    7. Lygeros, John, 1996. "Hierarchical, Hybrid Control Of Large Scale Systems," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt9pk453bt, Institute of Transportation Studies, UC Berkeley.
    8. Alvarez, Luis & Horowitz, Roberto, 1997. "Traffic Flow Control In Automated Highway Systems," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt4m56q4s1, Institute of Transportation Studies, UC Berkeley.
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