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Integrated Maneuvering Control For Automated Highway Systems Based On A Magnetic Reference/sensing System

Author

Listed:
  • Pham, Hung
  • Tomizuka, Masayoshi
  • Hedrick, J. Karl

Abstract

This report investigates the problem of regulation-level vehicle control for combined lateral and longitudinal maneuvers in an automated highway system (AHS) setting. Intelligent vehicles are assigned to dedicated lanes by a decentralized roadside coordinator which suggests a desired velocity. Magnetic markers embedded in the road, are used to provide geometry, and lateral and longitudinal position reference. Relative vehicle spacing information is obtained via a radar or vision referencing system. Onboard inertial sensors are utilized to provide a measure of the vehicle's absolute motion.

Suggested Citation

  • Pham, Hung & Tomizuka, Masayoshi & Hedrick, J. Karl, 1997. "Integrated Maneuvering Control For Automated Highway Systems Based On A Magnetic Reference/sensing System," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt7hk255bn, Institute of Transportation Studies, UC Berkeley.
    • Handle: RePEc:cdl:itsrrp:qt7hk255bn
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    File URL: https://www.escholarship.org/uc/item/7hk255bn.pdf;origin=repeccitec
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    References listed on IDEAS

    as
    1. J. G. Bender & R. E. Fenton, 1970. "On the Flow Capacity of Automated Highways," Transportation Science, INFORMS, vol. 4(1), pages 52-63, February.
    2. Tomizuka, Masayoshi & Hedrick, J. Karl & Pham, Hung, 1995. "Integrated Maneuvering Control For Automated Highway Systems Based On A Magnetic Reference/sensing System," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt7bh3f4gf, Institute of Transportation Studies, UC Berkeley.
    3. Love, David W. & Tomizuka, Masayoshi, 1994. "Vehicle Longitudinal Control Using Discrete Markers," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt9xx4p15n, Institute of Transportation Studies, UC Berkeley.
    4. Hedrick, J. K. & Garg, V. & Gerdes, J. C. & Maciuca, D. B. & Swaroop, D., 1996. "Longitudinal Control Development For IVHS Fully Automated And Semi-automated Systems: Phase II," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt4k559099, Institute of Transportation Studies, UC Berkeley.
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    Cited by:

    1. Chan, Ching-Yao & Tan, Han-Shue, 2003. "Evaluation of Magnetic Markers as a Position Reference System for Ground Vehicle Guidance and Control," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt5wv1t1j7, Institute of Transportation Studies, UC Berkeley.
    2. Boukhari, Mohamed Riad & Chaibet, Ahmed & Boukhnifer, Moussa & Glaser, Sébastien, 2019. "Two longitudinal fault tolerant control architectures for an autonomous vehicle," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 156(C), pages 236-253.

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