SmartPath implementation of coordination protocols for a fault tolerant AHS design

SmartPath is a package which creates a simulation environment for an automated highway system (AHS). The automated vehicle operating on an AHS can develop various hardware and sensor faults or degraded modes of operation. In the presence of such faults the operating mode is designed to degrade in that the vehicle either comes to a stop or exits the highway safely. We have implemented degraded mode protocols in the SmartPath environment and the simulation results suggest that the AHS handles and recovers from various fault scenarios.