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Implementation Of The Regulation Layer Using Shift

  • Author(s): Gulick, David
  • Alvarez, Luis
  • Horowitz, Roberto
  • et al.
Abstract

In this report, the implementation in the SHIFT programming language of regulation layer control laws for the hierarchical California PATH Automated Highway System (AHS) is presented. The implemented regulation layer control laws are derived after the safe-feedback based maneuvers designed in previous PATH projects. These maneuvers were modified to use the acceleration of vehicles as the control signal. Simulation results and a summary of the code developed are included.

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