Control design of an automated highway system

This paper describes the design of an automated highway system (AHS) develo ped over the past ten years at the California PATH program. The AHS is a la rge, complex system, in which vehicles are automatically controlled. The de sign and implementation of the AHS required advances in actuator and sensor technologies, as well as the design, analysis, simulation, and testing of large-scale, hierarchical, hybrid control systems. This paper focuses on th e multilayer AHS control architecture and some questions of implementation. It discusses in detail the design and safety verification of the non-bard vehicle control system and the design of the link-layer traffic-flow contro ller.