Overview

• Highway automation/autonomous operation of truck/trailers: the front vehicle leads other vehicles in a platoon.
• Intelligent cruise control: maintain a safe inter-vehicle distance at any operating conditions.

(For a quick introduction, see videos of previous work by other PATH researchers.)

Research Plans

• Establishment of performance metrics for heavy vehicle platoons and quantitative rating of several control schemes.
• Establishment of the sensitivity of these performance due to parameter variations (e.g. mass, road grade, etc).
• Development, validation and performance analysis of schemes for parameter estimation.
• Development and experimental validation of a supervisory control scheme that enables adjustments of the control structure with respect to changes in operating conditions/desired performance and compatibility with lateral control.

Results and Publications

• Road Grade and Vehicle Parameter Estimation for Longitudinal Control Using GPS, IEEE, ITS 2001, Oakland, CA, August 25-29, 2001. [paper pdf]
• Parameter Estimation and Command Modification for Longitudinal Control of Heavy Vehicles, AVEC 2000, Ann Arbor, MI, August 22-24, 2000.[paper pdf] [talk pdf]

Personnel

• Hong S. Bae (hongsang@leland.stanford.edu)

Collaborators

• Automated Heavy Vehicle Control group at UCLA

Sponsors

• California Department of Transportation (Caltrans)
• PATH