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An Interface Between Continuous and Discrete-Event Controllers for Vehicle Automation


J. Lygeros, D. N. Godbole

IEEE Transactions on Vehicular Technology, vol. 46, no. 1, pp. 229-241

The work presented here is part of a bigger effort to design an automated highway system (AHS) to improve the capacity and safety of current highways. Automation of highways and, in particular, platooning of vehicles raise a number of control issues. In the design proposed in [1], these issues are addressed by a hierarchical structure consisting of both discrete-event and continuous controllers. Our work is an attempt to construct a consistent interface between these two types of controllers. The proposed design is in the form of a set of finitestate machines (FSM’s) that interact with the discrete controllers through discrete commands and with the continuous controllers by issuing commands that get translated to inputs for the vehicle actuators. The operation of the proposed design is verified using COSPAN and tested in simulation. The interface design provides insight into interesting problems related to the hybrid nature of the AHS as it touches on both the discrete and continuous worlds.


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% Autogenerated BibTeX entry
@Article { LygGod:1997:IFA_2564,
    author={J. Lygeros and D. N. Godbole},
    title={{An Interface Between Continuous and Discrete-Event
	  Controllers for Vehicle Automation}},
    journal={IEEE Transactions on Vehicular Technology},
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