Title :
Hybrid controller design for safe maneuvering in the PATH AHS architecture
Author :
Alvarez, Luis ; Horowitz, Roberto
Author_Institution :
Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
Abstract :
The design of safe control laws for normal mode regulation layer maneuvers of the automated highway system (AHS) hierarchical architecture in the California PATH program is addressed. Safety is equated to the absence of vehicle collisions at any speed. It is shown that it is possible to design safe control laws that keep the state of the platoons inside a state dependent safety region for all state transitions of the coordination layer finite state machines. This design allows the complete decoupled verification of the hybrid system composed by the normal mode regulation and coordination layers
Keywords :
automated highways; finite state machines; hierarchical systems; position control; road vehicles; safety systems; California PATH program; automated highway system; coordination layer; finite state machines; hierarchical architecture; hybrid system; platoons; safe control; state transitions; Automata; Automated highways; Control systems; Mechanical engineering; Open loop systems; Organizing; Road accidents; Road vehicles; Space vehicles; Vehicle safety;
Conference_Titel :
American Control Conference, 1997. Proceedings of the 1997
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3832-4
DOI :
10.1109/ACC.1997.609195
