Advanced vehicle control systems (AVCS) research for automated highway systems in California PATH

This paper describes research on advanced vehicle control systems (AVCS) for automated highway systems (AHS) in the California PATH (Partners for Advanced Transit and Highways) program. After a brief introduction of the PATH and a review of the history of AHS, research in PATH at both the system level and the vehicle level control is reviewed. The PATH hierarchical AHS architecture consists of network, link, coordination and regulation layers. The regulation layer is supported by AVCS which consists of vehicle longitudinal control and lateral control.<>