Smart cars on smart roads: problems of control
Varaiya, P.
Automatic Control, IEEE Transactions on
Volume 38, Issue 2, Feb 1993 Page(s):195 - 207
Digital Object Identifier   10.1109/9.250509
Summary:Key features of one automated intelligent vehicle/highway system (IVHS) are outlined, it is shown how core driver decisions are improved, a basic IVHS control system architecture is proposed, and a design of some control subsystems is offered. Some experimental work is summarized. A system that promises a threefold increase in capacity is outlined, and a four-layer hierarchical control architecture that decomposes this problem into more manageable units is proposed

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