Mixture of automatically- and manually-controlled vehicles in intelligent transport systems

This paper presents a technology which allows for the existence of mixed tr affic, as a first step towards intelligent transport systems. We begin by d esigning an automatic driving controller called the intelligent vehicle dri ving system (IVDS). This is a two-layer system: the higher layer analyzes t he current scenario and infers the control objective that associates with a certain index function; the lower layer optimizes the function provided by the upper layer. IVDS only uses the measurement of a vehicle's speed and d istance relative to the vehicle in front, together with measurements of the vehicle's own state. Consequently, the vehicles equipped with the IVDS can operate together with manually-controlled vehicles. Next, a mathematical r ule-based model for human drivers is developed. This model attempts to mimi c human driver's behavior in vehicle following and lane-changing. Finally, we examine the control performance of the proposed controller and the poten tial benefits of mixed traffic by implementing the human driver model and I VDS on an automated highway simulator.