Abstract
This paper presents the design of a velocity tracking controller for safe vehicle maneuvering in Automated Highway Systems (AHS) in which traffic is organized into platoons of closely spaced vehicles. The notion of safety is related to the absence of collisions that exceed a given relative velocity threshold. In a companion paper, state dependent safety regions for the platoons are designed in such a way that, whenever the state of a platoon is inside these safety regions, it is guaranteed that platoon maneuvering will be safe and follow the behavior prescribed by the finite state machines that control vehicles maneuvers. Velocity profiles inside these safety regions are derived for all the single lane maneuvers and a nonlinear velocity tracking controller is designed to track these profiles. This controller attempts to complete the maneuvers with comfort in minimum time, whenever safety is not compromised. The control schemes presented in this paper were implemented and tested using AHS simulation software.
Published Version
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