Automated vehicle control developments in the PATH program

The accomplishments to date on the development of automatic vehicle control technology in the Program on Advanced Technology for the Highway (PATH) at the University of California, Berkeley, are summarized. The basic principles and assumptions underlying the PATH work are identified, and the work on automating vehicle lateral (steering) and longitudinal (spacing and speed) control is explained. For both lateral and longitudinal control, the modeling of plant dynamics is described, and the development of the additional subsystems needed (communications, reference/sensor systems) and the derivation of the control laws are presented. Plans for testing on vehicles in both near and long term are discussed.>