Control design of an automated highway system
Horowitz, R.; Varaiya, P.
Proceedings of the IEEE
Volume 88, Issue 7, Jul 2000 Page(s):913 - 925
Digital Object Identifier   10.1109/5.871301
Summary:Describes the design of an automated highway system (AHS) developed over the past ten years in the California PATH program. The AHS is a large, complex system, in which vehicles are automatically controlled. The design and implementation of the AHS required advances in actuator and sensor technologies, as well as the design, analysis, simulation, and testing of large-scale, hierarchical hybrid control systems. The paper focuses on the multilayer AHS control architecture and some questions of implementation. It discusses in detail the design and safety verification of the on-board vehicle control system and the design of the link-layer traffic-flow controller

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