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This paper focuses on disturbance propagation in vehicle strings. It is known that using only relative spacing information to follow a constant distance behind the preceding vehicle leads to string instability. Specifically, small disturbances acting on one vehicle can propagate and have a large effect on another vehicle. We show that this limitation is due(More)
—A new method is proposed for designing controllers with arbitrarily small tracking error for uncertain, mismatched nonlinear systems in the strict feedback form. This method is another " synthetic input technique , " similar to backstepping and multiple surface control methods, but with an important addition, 1 low pass filters are included in the design(More)
—An important aspect of an automated highway system design is the synthesis of an automatic vehicle following system. Associated with automatic vehicle following systems is the problem of the stability of a string of vehicles, i.e., the problem of spacing error propagation, and in some cases, amplification upstream from one vehicle to another, due to some(More)
—A robust control design is proposed for the lane-keeping and obstacle avoidance of semiautonomous ground vehicles. A robust Model Predictive Controller (MPC) is used in order to enforce safety constraints with minimal control intervention. An uncertain driver model is used to obtain sets of predicted vehicle trajectories in closed-loop with the predicted(More)
— This paper presents the design of an active safety system for prevention of unintended roadway departures. In normal driving conditions, the driver fully commands the vehicle while the safety system corrects the driver's steering and braking action in case there's a risk that the vehicle unintentionally departs the road. A model of the driver's nominal(More)
The contents of this report reflect the views of the authors who are responsible for the facts and the accuracy of the data presented herein. The contents do not necessarily reflect the official views or policies of the State of California. This report does not constitute a standard, specification, or regulation. Abstract A new architecture for a mobile(More)
We build on the Anytime information theory of Anant Sahai. Within that broad range we focus on the Anytime channel coding problem for discrete-time memoryless channels with noiseless feedback. Our main result is an upper bound on the exponent of anytime coding. For the special case of a Binary Erasure Channel with feedback the result is tight or, in other(More)