Abstract
Motivated by our work on Automated Highway Systems (AHS), we consider a physical system, the string of vehicles and construct a natural model for it in the Hybrid Input/Output Automaton formalism. We describe a special maneuver that may have to be executed by the system, the emergency deceleration maneuver, and derive necessary and sufficient conditions on the system parameters under which this maneuver can be executed in safety. We conclude by giving a brief discussion of the implications of our results for the design of an AHS that allows the formation of platoons of vehicles.
Research supported by California PATH under MOU-238 and MOU 288, ARPA contract F19628-95-C-0118, AFOSR contract F49620-97-1-0337, AFOSR contract F49620-94-1-0199 and the U.S. Department of Transportation DTRS95G-0001.
This is a preview of subscription content, log in via an institution to check access.
Preview
Unable to display preview. Download preview PDF.
References
N. Lynch, R. Segala, F. Vaandrager, and H. Weinberg, “Hybrid I/O automata,” in Hybrid Systems III, no. 1066 in LNCS, pp. 496–510, Springer Verlag, 1996.
A. Hitchcock, “Casualties in accidents occuring during split and merge maneuvers,” tech. rep., PATH Technical Memo 93-9, Institute of Transportation Studies, University of California, Berkeley, 1993.
J. Lygeros, D. N. Godbole, and S. Sastry, “A game theoretic approach to hybrid system design,” in Hybrid Systems III, no. 1066 in LNCS, pp. 1–12, Springer Verlag, 1996.
P. Li, L. Alvarez, R. Horowitz, P.-Y. Chen, and J. Carbaugh, “Safe velocity tracking controller for AHS platoon leader,” in IEEE Conference on Decision and Control, pp. 2283–2288, 1996.
E. Dolginova and N. Lynch, “Safety verification for automated platoon maneuvers: a case study,” in Proceedings of HART97 (O. Maler, ed.), no. 1201 in LNCS, pp. 154–170, Berlin: Springer Verlag, 1997.
D. Swaroop, String Stability of Interconnected systems: an application to platooning in automated highway systems. PhD thesis, Department of Mechanical Engineering, University of California, Berkeley, 1994.
J. Lygeros, D. N. Godbole, and S. Sastry, “A verified hybrid controller for automated vehicles,” Tech. Rep. UCB-ITS-PRR-97-9, Institute of Transportation Studies, University of California, Berkeley, 1997. (to appear in the Special Issue on Hybrid Systems of the IEEE Transactions on Automatic Control).
S. Shladover, “Operation of automated guideway transit vehicles in dynamically reconfigured trains and platoons,” Tech. Rep. UMTA-MA-0085-79-3, U.S.Deprtement of Transportation, 1979.
D. N. Godbole and J. Lygeros, “Tools for safety and throughput analysis of automated highway systems,” in American Control Conference, pp. 2031–2035, 1997.
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 1998 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Lygeros, J., Lynch, N. (1998). Strings of vehicles: Modeling and safety conditions. In: Henzinger, T.A., Sastry, S. (eds) Hybrid Systems: Computation and Control. HSCC 1998. Lecture Notes in Computer Science, vol 1386. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-64358-3_45
Download citation
DOI: https://doi.org/10.1007/3-540-64358-3_45
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-64358-6
Online ISBN: 978-3-540-69754-1
eBook Packages: Springer Book Archive