T HE California Program on Advanced （加利福尼亚高级项目）.pdfVIP

114 IEEETRANSACTIONS ON VEHICULAR TECHNOLOGY, VOL. 40, NO. 1, FEBRUARY 1991 Automatic Vehicle Control Developments in the PATH Program Steven E. Shladover, Charles A. Desoer, Fellow, ZEEE, J. Karl Hedrick, Masayoshi Tomizuka, Member, ZEEE, Jean Walrand, Senior Member, ZEEE, Wei-Bin Zhang, Donn H. McMahon, Huei Peng, Shahab Sheikholeslam, Student Member, ZEEE, and Nick McKeown Abstract-The accomplishments to date on the development of auto- the research and development work progresses, this is likely to matic vehicle control (AVC) technology in the Program on Advanced lead to public demonstrations of the most promising technolo- Technology for the Highway (PATH) at the University of California, gies. Berkeley, are summarized. The basic prqfiiples and assumptions under- lying the PATH work are identified, ‘followed by explanations of the Several basic assumptions underly the PATH vehicle control work on automating vehicle lateral (steering) and longitudinal (spacing development work. It is important to review these assumptions and speed) control. For both lateral and longitudinal control, the up front, to set the context for the rest of the paper. modeling of plant dynamics is described first, followed by development of the additional subsystems needed (communications,reference/sensor 1) We are aiming for complete automation of the driving systems) and the derivation of the control laws. Plans for testing on function on suitably equipped road facilities (most likely vehicles i