Distributed Link-Layer Control for Automated Highway Systems

Abstract

The modeling and design of a link-layer control algorithm for automated highway systems are presented in this paper. Link-layer control systems address the coordination of traffic on a stretch of highway, and serve as the intermediate layer between traffic management (ATMS) and vehicle control (AVCS) systems. The key role of the link layer control system is to use macroscopic traffic information for improved traffic flow. A distributed control algorithm is developed based on optimal control theory. The proposed control law is implemented in a simulation program which keeps track of the motions of each individual vehicles on the highway. Simulation results under three perturbed conditions—uneven traffic distribution, broken vehicle, and traffic merging—are presented.