The objectives of the project are: (1) to study the behavior of existing vehicle lateral control systems in the event of magnetometer failures, (2) to design controllers that use the output from only one set of magnetometers, and (3) to develop an autonomous lateral control scheme that uses no...

This report presents two performance enhancement lateral control designs for single unit heavy vehicles. It is shown that robust performance can be achieved using the techniques on a feedback linearized system.

The project "Lateral Control of Heavy Duty Vehicles for Automated Highway Systems" (MOU 313) represents continuation of the heavy vehicle research in PATH which was initiated in 1993 with MOU 129, "Steering and Braking Control of Heavy Duty Vehicles" and was followed with MOU 242, "Steering and...

In analogy to the flow of fluids, it is expected that the aggregate density and the velocity of vehicles in a section of a freeway adequately describe the traffic flow dynamics. The conservation of mass equation together with the aggregation of the vehicle following dynamics of controlled...

This document describes part of the work conducted under MOU252 and MOU324, related to the studies of vehicle collisions in vehicle-following operations. This working paper is a detailed documentation of a computer program that is the core element of the simulation tools for vehicle collision...

This report focuses on the design of longitudinal control algorithms for commercial heavy vehicles (CHVs). The algorithms use nonlinear spacing policies, backstepping control design, and aggressive prediction schemes to deal with the presence of significant delays and saturations in the fuel and...

The arrival times of vehicles traveling southbound along a two-lane, bi-directional highway were recorded at eight neighboring locations upstream of a bottleneck caused by an oversaturated traffic signal. Cumulative curves constructed from these observations describe completely and in great...

This document describes part of the work conducted under MOU324, related to the studies of vehicle collisions in vehicle-following operations. The goal of the study is to conduct vehicle dynamics and control analysis and to explore display methods so that analytical results can be visualized....

This work focuses on vehicle fault detection and identification. It also describes a vehicle health management approach based on analytic redundancy. It describes a point design of fault detection filters and parity equations that are developed for the vehicle longitudinal mode. A preliminary...

The project reuses the sensor and actuator interface software developed by California PATH for the DEN1097 automated highway system demonstration on Highway I17 in San Diego during August 1997. This software is provided on the QNX operating system. It interfaces with the magnetometers, radars,...