Title :
Analysis and verification of the PATH AHS coordination-regulation layers hybrid system
Author :
Alvarez, Luis ; Horowitz, Roberto
Author_Institution :
Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
Abstract :
The design of safe velocity tracking controllers for the regulation layer maneuvers in the PATH automated highway system (AHS) hierarchical architecture is addressed. The notion of safety used is related to the absence of collisions that exceed a given relative velocity threshold. These controllers attempt to complete maneuvers in minimum time without compromising safety by keeping the maneuver trajectory inside a state dependent safety region. Simulation results are presented
Keywords :
automated highways; hierarchical systems; nonlinear control systems; position control; road traffic; safety systems; tracking; velocity control; PATH automated highway system; backstepping; coordination-regulation layers; hierarchical architecture; hybrid system; nonlinear control system; platoon; road traffic; safe control; safety; velocity tracking control; Acceleration; Automated highways; Control systems; Mechanical engineering; Motion control; Safety; Tracking; Vehicle dynamics; Vehicles; Velocity control;
Conference_Titel :
American Control Conference, 1997. Proceedings of the 1997
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3832-4
DOI :
10.1109/ACC.1997.609202
