California Partners for Advanced Transportation Technology

This report investigates the problem of regulation-level vehicle control for combined lateral and longitudinal maneuvers in an automated highway system (AHS) setting. Intelligent vehicles are assigned to dedicated lanes by a decentralized roadside coordinator which suggests a desired velocity. Magnetic markers embedded in the road, are used to provide geometry, and lateral and longitudinal position reference. Relative vehicle spacing information is obtained via a radar or vision referencing system. Onboard inertial sensors are utilized to provide a measure of the vehicle's absolute motion.