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A Hybrid Controller for Autonomous Vehicles Driving on Automated Highways by Alain Girault is a Engineering article available to read on EtoBox.

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This paper addresses the problem of the hybrid control of autonomous vehicles driving on automated highways. Vehicles are autonomous, so they do not communicate with each other nor with the infrastructure. Two problems have to be dealt with: a vehicle driving in a single-lane highway must never collide with its leading vehicle; and a vehicle entering the highway at a designated entry junction must be able to merge from the merging lane to the main lane, again without any collision. To solve these problems, we equip each vehicle with a hybrid controller, consisting of several continuous control laws embedded inside a finite state automaton. The automaton specifies when a given vehicle must enter the highway, merge into the main lane, yield to other vehicles, exit from the highway, and so on. The continuous control laws specify what acceleration the vehicle must have in order to avoid collisions with nearby vehicles. By carefully designing these control laws and the conditions guarding the automaton transitions, we are able to demonstrate three important results. First, we state the initial conditions guaranteeing that a following vehicle never collides with its leading vehicle. Seco

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Author

Alain Girault

Publisher

Elsevier Science; Elsevier ; Elsevier Ltd.; Elsevier BV (ISSN 0968-090X)

Published

2004

Language

EN

Field

Engineering (Physical Sciences)