Safety oriented maneuvers for IVHS

Jonathan Frankel, Luis Alvarez, Roberto Horowitz, Perry Y. Li

Research output: Contribution to journalConference articlepeer-review

8 Scopus citations


The AVHS architecture of the California PATH program organizes traffic into platoons of closely spaced vehicles. Platoons are formed and broken up by two longitudinal control maneuvers, merge and split. A third longitudinal maneuver, decelerate to change lanes, allows a platoon switching from one lane to another to enter its new lane at a safe spacing and speed. This paper presents a robust control strategy for these maneuvers. Safety is assured by forcing the velocity of the trail platoon to remain under a maximum safe velocity boundary. When safety is not threatened, the vehicles' jerk and acceleration remain within comfort limits. Because no timed nominal trajectories are used, completion of the maneuvers does not depend on vehicles meeting prescribed acceleration capabilities.

Original languageEnglish (US)
Pages (from-to)668-672
Number of pages5
JournalProceedings of the American Control Conference
StatePublished - Jan 1 1995
EventProceedings of the 1995 American Control Conference. Part 1 (of 6) - Seattle, WA, USA
Duration: Jun 21 1995Jun 23 1995


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