California Partners for Advanced Transportation Technology

In this paper, the authors propose a hierarchical control architecture for dealing with faults an adverse environmental conditions on an Automated Highway System (AHS). The design builds on a previously designed control architecture that works under normal conditions of operation. The faults that are considered in the design are classified according to capabilities remaining on the vehicle or roadside after the fault has occurred. Information about these capabilities is used by the supervisors in each of the layers to select appropriate control strategies. The extended control strategies which are needed by the supervisors of each layer of the hierarchy are outlined, and in certain cases, examples are given of their detailed operation.