AHS control laws for platoons leaders

Perry Li, Luis Alvarez, Roberto Horowitz

Research output: Chapter in Book/Report/Conference proceedingConference contribution


In the AHS architecture of the California PATH program traffic is organized into platoons of closely spaced vehicles. Whenever platoons are formed or broken up, the large relative motion between platoons, increases the risk of high relative velocity collisions. In this paper we derive a safety region for the relative velocity between two platoons. By guaranteeing that the relative velocity between platoons remains in this region, impacts of high relative velocity can be avoided. For each one of the four control laws that a platoon leader can perform in normal operation, a desired velocity profile for the platoon that satisfies safety and time-optimality requirements is derived. A nonlinear velocity controller is designed to track the desired velocity profile within a given error bound. When safety is not compromised, this controller keeps the acceleration and jerk of the vehicles in the platoon within comfort limits.

Original languageEnglish (US)
Title of host publicationProceedings of the ASME Dynamic Systems and Control Division
EditorsY.W. Kwon, D. Davis, H.H. Chung
Number of pages8
StatePublished - Dec 1 1996
EventProceedings of the 1996 ASME International Mechanical Engineering Congress and Exposition - Atlanta, GA, USA
Duration: Nov 17 1996Nov 22 1996


OtherProceedings of the 1996 ASME International Mechanical Engineering Congress and Exposition
CityAtlanta, GA, USA


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