A SAFE VELOCITY TRACKING CONTROLLER FOR AHS PLATOON LEADERS

This paper presents a velocity tracking controller for platoon leaders in the PATH (Partners for Advanced Transit and Highways) automated highway system (AHS) architecture. This controller keeps the state of the platoons inside a safety region in such a way that high velocity impacts between platoons are avoided. When safety is not compromised the controller keeps the acceleration and jerk of the vehicles in a platoon within comfort limits. This controller can be applied to all of the four leader control laws used in the regulation layer of the architecture, thus allowing for safe transitions between control laws.

• Supplemental Notes:
  • Publication Date: 1996 Published By: IEEE Service Center, Piscataway NJ
• Corporate Authors:

  Rossiiskaia akademiia nauk

  ,    

  University of California, Berkeley

  Department of Mechanical Engineering
  Berkeley, CA  United States  94720-1740

  University of California, Berkeley

  California PATH Program, Institute of Transportation Studies
  Richmond Field Station, 1357 South 46th Street
  Richmond, CA  United States  94804-4648

  University of California, Berkeley

  Intelligent Machinges and Robotics Laboratory
  Berlkeley, CA  United States 

  University of California, Berkeley

  Department of Electrical Engineering and Computer Sciences
  Berkeley, CA  United States  94720
• Authors:
  • Li, Peng
• Conference:
  • IEEE Conference on Decision and Control (35th : 1996 : Kobe, Japan). Proceedings ... Vol. 2
• Publication Date: 1996

Language

• English

Media Info

• Pagination: p. 2282-2288

Subject/Index Terms

• TRT Terms: Automated highways; Speed control
• Uncontrolled Terms: Controllers
• Subject Areas: Highways; Operations and Traffic Management;

Filing Info

• Accession Number: 00775167
• Record Type: Publication
• Source Agency: UC Berkeley Transportation Library
• Files: PATH
• Created Date: Nov 17 1999 12:00AM