California PATHPartners for Advanced Trans i t and Highways

Annua l Report 1998

California PATH – Partners for AdvancedTransit and Highways – is a collaborationbetween the California Department ofTransportation (Caltrans), the Universityof California, other public and private aca-demic institutions, and private industry.PATH’s mission: applying advanced tech-nology to increase highway capacity andsafety, and to reduce traffic congestion,air pollution, and energy consumption.

1

California PATHDirector’s Introduction3

A Word from Caltrans5

Overview of California PATH7

ATMIS Research13

AVCSS/AHS Research16

SYSTEMS Research20

Information and Media23

Recent PATH Publications25

Publications Order Form35

California PATH Database37

Captions and Credits39

Partners for Advanced Trans i t and Highways

Annua l Report 1998

2

3

Director’s Introduction

The California PATH Program, a collaboration between Caltransand the University of California, is a unique multidisciplinary re-search program that seeks advanced technological solutions toour worsening transportation problems. PATH’s researchers andstaff come from many countries and academic backgrounds and

are spread across California’s college campuses and into private industry. They areunited by the goal of fulfilling the promise of ITS, Intelligent Transportation Systems,and finding solutions for today and tomorrow.

PATH brings together engineers and economists, geographers and urban planners,computer scientists and statisticians—among others. Its multidisciplinary atmosphereis responsible for shaping the “modern” transportation engineer, who is familiar notonly with traditional disciplines but also with the emerging areas of sensors, com-munications, data structures, vehicle dynamics and control, and many other disci-plines. We pride ourselves on the many students and post-docs who have “gradu-ated” from PATH and gone on to influential positions at universities and in the pub-lic and private sectors, spreading the ITS vision.

Although we look back with regret at the demise of the National Automated High-way System Consortium (NAHSC), we take pride in having been a key part of itsfinest achievement, the most successful demonstration of vehicle automation tech-nology ever held: Demo ’97. PATH’s demonstration of the platoon concept, with itseight-car fully automated platoon, as well as the joint Honda-PATH magnetic/com-puter-vision guided vehicles, were highlights of Demo ’97. And even though thedecision to disband the NAHSC will slow the development of any automated high-way system, PATH and Caltrans will work together to fully realize AHS technology’spotential to reduce the congestion that chokes our highways.

PATH’s future looks bright as the need for intelligent transportation solutions becomesever more clearly apparent. Bringing together the best minds in California to improveCalifornia’s, the nation’s and the world’s transportation systems is PATH’s goal!

Professor Karl HedrickDirector

4

5

A Word from Caltrans

For the past thirteen years, California Partners for Advanced Tran-sit and Highways (PATH) has earned national and internationalrecognition for the quality and innovation of its research.Caltrans is proud of our role in helping to establish the PATH

Program, and in the strong relationship we have developed with our colleaguesat PATH.

A key element in PATH’s success is its emphasis on research areas that offer poten-tially dramatic efficiency improvements in the operation of our transportation sys-tem. In California, rapid population growth and ever-increasing demand for travelthreaten to choke the system and constrain the mobility of people and goods that iscritical to sustain the vitality of our economy and our quality of life. PATH’s researchhas improved the efficiency of our existing transportation system, and reduced theneed to build expensive new facilities.

As Caltrans and its partners move closer to widespread deployment of IntelligentTransportation Systems, PATH continues to play a vital role in helping to find cost-effective solutions to mitigate congestion problems, enhance safety and efficiency,and improve the performance of California’s transportation system. I am optimisticthat together we will overcome many of these challenges, and excited by the op-portunities that Caltrans and PATH will pursue as we enter the next century.

Greg LarsonCaltrans Management Liaison

6

7

The California Partners for Advanced Transit and Highways Program (PATH) has beenleading the way in ITS (Intelligent Transportation Systems) research since PATH’sfounding in 1986, before the term ITS or its predecessor IVHS (Intelligent VehicleHighway Systems) had even been coined.

PATH’s purpose is to develop foundations for the widespread adoption of advancedtechnologies to improve the operation of California’s surface transportation systems.PATH’S specific goals are to increase highway capacity and safety, and to reducetraffic congestion, air pollution, and energy consumption.

Caltrans provides the seed funding for PATH’s core research, based on its goal ofpromoting the development of new knowledge and new technology that can im-prove the productivity, safety, and environmental impacts of California’s surface trans-portation systems.

PATH’s charter includes the missions of conducting leading-edge research, evaluat-ing operational tests, developing public/private/academic partnerships, and edu-cating students as well as practitioners about ITS. It does not include the deploy-ment or operation of systems, which remain the responsibilities of the Caltrans dis-trict offices and relevant local agencies.

PATH focuses on research with the potential for dramatic improvements in the op-erations of California’s transportation system, rather than diffusing its efforts in areaswhere only incremental improvements are possible. California’s population and itstransportation demands are growing so rapidly that the effects of incremental solu-tions would likely be absorbed by the time they could be implemented. Hence,PATH emphasizes relatively long-term, high-impact solutions. But PATH also addressesthe progressive steps needed to achieve those long-term solutions. PATH researchalso attempts to identify impediments to progress, both technical and institutional,and to devise strategies for overcoming those impediments.

Overview of California PATH

8

Research and development done under PATH auspices includes:• identification of problems and needs• basic research on enabling technologies• applied technology R & D• system-level design and evaluation• experimental verification of design predictions• evaluations of existing technologies or equipment• evaluations of costs and benefits• technology assessments• predictions of users’ behavioral responses• predictions of the impacts of technologies’ use• evaluations of legal and institutional issues.

PATH is managed by the Institute of Transportation Studies of the University of Cali-fornia at Berkeley, which established the PATH Program Headquarters Office at theUniversity’s Richmond Field Station in 1986. Policy issues are addressed by ITS’sPATH Executive Committee, and by the Caltrans-PATH Joint Management Team,composed of program managers from both Caltrans and the University. PATH’s day-to-day operations are managed by the headquarters staff.

PATH headquarters has about 35 full-time staff members, including a core group ofresearch staff members, plus program managers and administrators. A substantialbody of research is done by the full-time research staff at PATH headquarters, butmost PATH research work is done by faculty members employing graduate studentson the campuses of the twelve universities that form the PATH partnership. Thiswork is supplemented by subcontracts to private companies as needed, and by co-operative research agreements with a variety of organizations, including private com-panies as well as public institutions, both domestic and international. The product-development-oriented work of private companies complements the basic work ofthe academic researchers, so that each group can concentrate on what suits it best.Publication of PATH research work is coordinated at PATH headquarters.

PATH Activities in National and International ITS ProgramsPATH has received substantial funding from the Federal Department of Transporta-tion (DOT), including support from the Federal Highway Administration (FHWA),

9

Federal Transit Administration (FTA), and National Highway Traffic Safety Adminis-tration (NHTSA) on a variety of projects that predated current Federal ITS programs.PATH participation in DOT ITS programs during the past year include the NationalAutomated Highway System Consortium and evaluations of California ITS opera-tional tests.

National Automated Highway System ConsortiumPATH was one of the ten core participants in the NAHSC, which began the SystemDefinition Phase of the AHS program in October 1994. PATH researchers were activein most of the tasks of the NAHSC work plan, and had the lead responsibility fordeveloping AHS modeling and analysis tools. They also worked heavily on develop-ment and evaluation of enabling technologies for AHS, development of the August1997 AHS technical feasibility demonstration (Demo ’97), and evaluation and selec-tion of AHS operating concepts. NAHSC activities were concluded during 1998,after withdrawal of support from USDOT.

PATH demonstrations of automated vehicles got enormous, favorable, national andinternational exposure in 1997 and 1998, first at the NAHSC’s Demo ’97 in SanDiego (August 1997), then at the Dutch Ministry of Transport and WaterManagement’s Demo ’98 in Rijnwoude, the Netherlands (June 1998). Leading trans-portation professionals, politicians, and journalists from print and electronic mediawere impressed after riding in the PATH vehicles. Media coverage was uniformlyvery favorable, increasing the level of public interest in the opportunities offered byvehicle automation, and in PATH research.

Evaluations of California ITS Operational TestsPATH currently serves as evaluator for the following Field Operational Tests:

• TravInfo (Bay Area)• Smart Call Box (San Diego)• Adaptive Traffic Control (Anaheim)• Integrated Ramp/Signal Control (Irvine)• Mobile Surveillance (Orange County)• Wireless Spread Spectrum Communication (Los Angeles);• TransCal (Bay Area to Reno)

10

State-Funded Core Program of ITS ResearchThe core of the PATH program is its collection of research projects funded by Caltrans’New Technology and Research Program. Currently, there are about 95 such projects,selected on the basis of an annual Request for Proposals (RFP) and proposals submit-ted from throughout California. These involve the work of about 45 professors, rep-resenting 15 academic departments on 12 different university campuses, supervis-ing the research of more than 100 graduate students and post-doctoral researchers.Projects are currently being conducted at: UC Berkeley, UC Davis, UC Irvine, UC LosAngeles, UC Riverside, UC Santa Barbara, California Polytechnic State University atSan Luis Obispo, the Claremont Graduate School, San Diego State University, theUniversity of Southern California, MIT, and Texas A&M.

New projectsPATH attracted research support from a variety of new sources during the past year,based in large part on the favorable reactions to Demo ’97. Some of the new projects:

• Development of enhanced adaptive cruise control, permitting smooth opera-tions at low speeds and in stop-and-go traffic, for BMW

• Implementation of a three-vehicle platoon demonstration and a single-vehiclelow-speed “mini demo” for the Rijkswaterstaat (Dutch Ministry of Transport,Public Works, and Water Management) at Demo ’98

• Implementation of PATH’s magnetic guidance system for the Dutch Combi-Road consortium’s automated truck in Ridderkerk, the Netherlands, under con-tract to TNO/TPD (also at Demo ’98)

• Literature review and assessment of AHS modeling tools and evaluations, forJapan’s Advanced Cruise-Assist Highway System Research Association (AHSRA),under subcontract from SRI International

• Development of a control system for the Office of Naval Research’s MobileOffshore Base, which will link huge semi-submersible self-propelled barges to-gether on the open sea to form a runway for large aircraft

• Implementation of PATH’s magnetic guidance system on a four-mile stretch ofInterstate 80 over Donner Summit, in collaboration with the Advanced High-way Manitenace and Construction Technology Center (AHMCT) at UC Davis,for phase one of the Advanced Snowplow Program partnership between Cali-fornia, Arizona, and Montana.

11

12

PATH research is subdivided into three broad categories:• ATMIS - Advanced Transportation Management Information Systems

(which includes the more traditional categories of ATMS, ATIS and APTS);• AVCSS - Advanced Vehicle Control and Safety Systems (which includes

Automated Highway Systems - AHS);• Systems - the cross-cutting and institutional issues that apply to both

ATMIS and AVCSS, as well as communications and system architecture.

A summary of current PATH projects by category follows and a list of currentPATH research reports, working papers, and technical notes can be found onon pages 25-33.

13

estimation will be developed anddemonstrated.

TRICEPS: An ATMIS Field Imple-mentationMichael G. McNally, UCITRICEPS (Testbed Real-time Inte-grated Control and Evaluation Pro-totype System) is a software plat-form that facilitates the testingand evaluation of a wide range ofalgorithms for adaptive traffic con-trol, ATMIS, and ATIS. TRICEPSprovides researchers with a distrib-uted computing platform that al-lows them to implement andevaluate the effectiveness of inte-grated traffic management andcontrol schemes which employmultiple interdependent ITS appli-cations. This project centers on theadaptation of TRICEPS for use withreal-world data from real-timeconnections with transportationfacilities in the Irvine Freeway andArterial Adaptive Control Field Op-erational Test (Irvine FOT).

1.2 Traffic Surveillance

Automated Travel Time Mea-surement Using Vehicle LengthsFrom Loop Detector Speed TrapsMike Cassidy, UCBOur goal is to produce an inexpen-sive, automated process for ve-hicle reidentification and traveltime measurement using existingpaired loop detector speed traps.

Advanced Transportation Management Information Systems

ATMIS Research

1.1 ATMS (Advanced Transpor-tation Management Systems)

Adaptive Dynamic MacroscopicFreeway Traffic Flow PredictionModel Using Genetically Opti-mized Time-Delay-Based NeuralNetworksBaher Abdulhai, PATHAn attempt to fill the need for bet-ter traffic flow forecasting models,using the unprecedented real-time traffic data availability at theAdvanced Traffic ManagementTestbed at the Institute of Trans-portation Studies (ITS), Universityof California, Irvine (UCI).

Assessment of the Effectivenessof ATMIS StrategiesAlexander Skabardonis, UCBWe will apply the INTEGRATIONand CORSIM(WATSim) simulationmodels on the Santa Monica Free-way Corridor (the Smart Corridor).Concepts to be assessed includeramp metering, signal timingoptimization,and incident man-agement systems. The aim is to de-termine which model can bestsimulate existing traffic conditionsand model ATMIS strategies.

Implementation of AdvancedTechniques for Automated Free-way Incident DetectionBaher Abdulhai, PATHIn stage one we integrate existingalgorithms into the ATMS Testbedlabs at UCI and rigorously test andmodify them in a simulated on-lineenvironment. Stage two capitalizeson the on-line connection of theUCI ATMS Labs with the CaltransDistrict 12 TMC and will test andmodify the algorithms as theycommunicate in real-time with theTMC. Stage three is implementa-tion, testing and evaluation of se-lected algorithms in the TMC en-vironment.

Incident Management: ProcessAnalysis and ImprovementRandolph Hall, USCThe objective of this project is toexamine the incident manage-ment process as a whole, and toassess potential process improve-ments, including potential for newtechnologies. These improvementsmay occur within transportationmanagement centers or in thefield. The project will collect de-tailed data on actual incidents, todocument incident management

processes from start to finish, andto document the effects of incidentmanagement on highway perfor-mance (principally delay).

PATH Center for ATMIS Research atUC IrvineWill Recker, UCIThe purpose of this project is tomanage the UC Irvine ATMS labo-ratory. PATH researchers and theTestbed management team willgenerally be responsible for soft-ware enhancements to the labora-tory “bench top” system for mod-eling and evaluating ATMS.

Real-Time Algorithms for TravelTime, Origin-Destination Esti-mates, and Incident DetectionPravin Varaiya, AlexanderSkabardonis, UCBAlgorithms to estimate travel timeusing loop data or video data havebeen developed over the past sev-eral years. In this project, these al-gorithms will be further developedand implemented in a real-worldenvironment. After the travel timeestimates have been proven to besatisfactory, other algorithms, in-cluding incident detection, incidentverification, and origin/destination

14

The project will also develop inci-dent detection strategies based onthe travel time data, and investi-gate the usefulness of supplyingmeasured travel time informationto drivers for ATIS applications.

Caltrans District 10 Fog Monitor-ing SystemArt MacCarley, Cal Poly San LuisObispoThis project involves two tests. Thefirst is a field test of a fog detectorsystem for Caltrans District 10 inStockton. The second componentis a feasibility study of a videobased surveillance system.

Developing and Using Surveil-lance Data for ResearchJoy W. Dahlgren, PATHThis project has three compo-nents. First, to develop surveil-lance capability on Interstate 80 inEmeryville to serve as a mini-labo-ratory for observing traffic behav-ior and for testing concepts, algo-rithms, and theories developed inearlier PATH research. Second, todocument the process of develop-ing that surveillance capability,from the loop detectors and videocameras to the uses of surveillancedata. The third component, put-ting the data to use, is the final testof the surveillance system — is thedata usable? The data will be usedto study travel volume patternsbefore and after improvementsthat affect capacity in the ob-served section of I-80.

Development of Real-Time La-ser-Based Non-Intrusive Detec-tion System for Measurement ofTrue Travel Time on the HighwayHarry Cheng, UCDPhase Two of the development ofa laser-based vehicle identificationsystem. A PC-based field testingsystem for detection of site-inde-pendent delineations of vehiclesfor true travel time measurementwill be developed and field tested.

Section-Related Measures ofTraffic System Performance:Field Prototype ImplementationStephen Ritchie, UCIDemonstrates and evaluates newmethods for obtaining true “sec-tion-related” performance mea-sures, initially for freeways, basedon pattern recognition technologyand use of either existing loop de-tectors or overhead mounted in-frared sensors. Results will help de-termine the potential benefits ofapplying these techniques to con-gestion monitoring, incident de-tection, traveler information, andsystem performance measures.

Use of Los Angeles Freeway Ser-vice Patrol Vehicles as ProbesJames E. Moore II, USCFocuses on the feasibility of usingexisting telemetry and MobileData Terminals (MDT) installed onLos Angeles Freeway Service Patrolvehicles to enable FSP tow trucksto be used as probe vehicles whencruising. Caltrans District 7’s loopdetectors are single-trap mecha-

nisms that produce accurate vol-ume counts but inferior estimatesof speed. Combining single-traploop detector counts with probevehicle data would improve speedestimates considerably.

Video-Based Vehicle SignatureAnalysis and Tracking System,Phase 2B: System Deploymentand Operational TestArt MacCarley, Cal Poly San LuisObispoPhase One of this project involvedpreliminary work to test the accu-racy, reliability and robustness ofthe detection system. Phase Twowill involve the development of ex-perimental hardware and softwarefor automated vehicle detection.

1.3 ATIS (Advanced TravelerInformation Systems)

Experiment in Privatizing theOperations of Regional Trans-portation Information/Manage-ment Centers: How Well is itWorking?Mark Miller, PATHHow can a private, for-profit com-pany operate a transportation in-formation and management center(in this case, a Traveler InformationCenter) that would normally andcustomarily be operated by a pub-lic sector organization, such as astate or local department of trans-portation, or a regional transpor-tation authority or commission?

This unique study examines theTravInfo Field Operational Test,where a private sector organizationis operating TravInfo’s TIC andPATH is currently executing an in-dependent evaluation of the TIC’seffectiveness.

Consumer Research on ATIS Tech-nologies: Surveys of ATIS UsersYoungBin Yim, PATHObjectives are to understand theuser and supplier issues of the tele-phone-based ATIS, to identify de-mographic and trip behavioralcharacteristics of internet users,and to assess market demand forin-vehicle and hand-held ATIS de-vices through a public-privatepartnership. A series of consumersurveys will be conducted in con-junction with the private sector.

Daily Activity and MultimodalTravel PlannerRyuichi Kitamura, UCD, KyotoUniversityThis project will provide ATIS inthe state of California with the ca-pability to search a database andgenerate an itinerary for a day’stravel. A Travel Itinerary Plannerwill generate a day’s itinerarybased on input such as desireddestinations and arrival times.Heuristic algorithms will be devel-oped and existing databases effec-tively used to produce Plannerprototypes. The Travel ItineraryPlanner will aid in promoting pub-lic transit and ridesharing for non-commute trips.

15

Event-Based ATIS: PracticalImplementation and Evaluationof Optimized StrategiesR. Jayakrishnan, UCIThis project will further adapt andenhance previous research of rel-evance to event-based AdvancedTraveler Information Systems (ATIS)and implement algorithms for traf-fic management in Anaheim. It willgenerate traffic rerouting plans forchangeable message signs andHighway Advisory Radio.

Financing Plan for Public Sup-ported ATISYoungBin Yim, PATHInvestigates public-private partner-ship models currently available forATIS deployment in the US andother countries from the Transpor-tation Information Center (TIC)operator perspective. Objectivesare to understand the marketstructure of ATIS and to identifyrevenue models for TIC operation.

Provision of Traffic Information–A Study of Supply and MarketStructureAdib Kanafani, UCBInvestigates the structure of themarket for traffic information. Inparticular, this project is concernedwith the supply of information byprivate and public providers. It willdevelop a comprehensive model ofhow private and public informationis provided, and of the organizationof the market in which informationis acquired and disseminated toend users or value added resellers.

1.4 APTS (Advanced PublicTransportation Systems)

Design, Implementation, andEvaluation of an APTS; Inter-modal Field Test of Car Sharing:A Case Study of the BART StationCar ProgramDaniel Sperling, UCDA market and institutional analy-ses of smart station car rental atBART stations. Findings will begeneralized to broader applica-tions of intelligent communica-tions and reservation systems tointermodal and paratransit sys-tems and car-sharing organiza-

tions. The overall goal is to exam-ine economic and institutionalbarriers and opportunities to IC/Rsystems, analyze potential de-mand for these technologies andsystems, and to explore the role ofpublic/private partnerships in cre-ating these new systems.

Assistive Devices and Services forthe DisabledReginald G. Golledge, UCSBExamines how auditory informa-tion (e.g., Remote Infrared SignageSystem, or Talking Signs®) and au-ditory travel guides (e.g. PersonalGuidance System) can assist blindand vision-impaired travelers to

use public transit. In a pilot study,we first experimented with sign lo-cation (in terminals, on buses, onstreets) and message content(natural vs. technical language).

Efficient Transit Service Throughthe Application of ITSRandolph Hall, USCTracking and other ITS technolo-gies have the potential to improvethe productivity of transit systemsin many ways, including betterschedule control, driver feedback,and improved data for route plan-ning. This project investigates thepotential benefits and uses of ITSfrom the standpoint of efficiency.

16

Advanced Vehicle Control and Safety Systems / Automated Highway Systems

AVCSS/AHS Research

2.1 Concept Definition

Evaluation and Analysis of Auto-mated Highway System Con-cepts and ArchitecturesPetros Ioannou, USCConclusion of an ongoing projectto develop predictions of the spac-ings that can be used between au-tomated vehicles to improve boththroughput and the safety of high-way traveling. Issues such as lane-changing maneuvers, roadsidetraffic flow control, and synchro-nization of maneuvers by differentvehicles are considered here, sothat differences among differentapproaches to vehicle automationcan be better understood. This willcontribute to the selection of themost viable approaches for auto-mated vehicle operations.

Mixed Automatic and ManualTrafficPetros Ioannou, USCProposes and evaluates an AHSdesign in which it is possible to mixautomated and manual traffic un-der some conditions. This studyalso considers vehicle address con-trol, communication and sensor

requirements, roadway restric-tions, roadway control, and pos-sible benefits and drawbacks of theAHS designs involved. The contri-bution of the research is to provideanswers to the above issues sup-ported by analysis and simulations.

2.2 Vehicle Dynamics andControl

Brake System Modeling andControl, and Integrated Brake/Throttle SwitchingKarl Hedrick, UCBA continuing investigation of theautomatic control of vehicle brak-ing, which is essential to safety andperformance of automated ve-hicles. Work includes accuratemeasurement of the level of brak-ing force (or torque) and use ofthat information to provide accu-rate control of braking. The tech-niques and hardware used here areahead of the state of the art in theautomotive industry, which wasnot able to provide components orsystems to meet the performancespecifications for this research. Re-sults will contribute to the defini-tion of system performance limits

for automated vehicle operations.http://vehicle.me.berkeley.edu/~khedrick/

Control of HeterogeneousPlatoonsBenson Tongue, UCBWe seek to produce a control de-sign methodology that allows theproduction of platoon controllershaving a marked insensitivity tovariations in system parametersand/or environmental variations.We shall utilize the mu control ap-proach as the backbone of this ef-fort and will produce a clearlydocumented design paradigm thatallows the control designer tospecify what particular elementsthe controller should be most ableto withstand variations from.

Optimized Vehicle Control/Com-munication Interaction in an Au-tomated Highway SystemsKarl Hedrick, UCBOur goal is to define and optimizethe interaction between the com-munication system and the vehiclecontrol system, from both a hard-ware and software standpoint. Weare using vehicle control algo-rithms developed by PATH re-searchers at UC Berkeley and off-

the-shelf communication technol-ogy to design a coordination pro-tocol by which the control andcommunication systems can effectthe various maneuvers required byan automated highway system.http://vehicle.me.berkeley.edu/~khedrick/

2.3 Fault Detection andMalfunction Management

Design of Fault Tolerant ControlSystems for AHS: Fault Detec-tion, Fault Handling and Verifi-cationShankar Sastry, Roberto Horowitz,Karl Hedrick, UCBThis project expands on earlier re-search to define a unified frame-work for a fault-tolerant auto-mated vehicle control system. Priorwork has shown how vehicle con-trol systems can be designed towork extremely well under normalconditions. The important remain-ing challenges are to ensure thatthey also work well enough whenfailures occur that the vehicle us-ers can be assured of safety. Thisproject aims at detecting failuresand then proving that safety canbe maintained even in the pres-ence of failures.

Emergency Operation of Pla-toons: Collisions, Emergency De-celeration, and Platoon LaneChangeShankar Sastry, Nancy Ann Lynch,D. Swaroop, UCB, MIT, Texas A&M

17

Design and analysis of regulationand low-level coordination con-trollers for emergency platoon op-eration. The central theme is theissue of collisions within a platoon:we incorporate collision modelinginto our system description, deter-mine the effect of collisions on thesystem performance (lateral devia-tion, passenger injury, vehicledamage) and attempt to optimizethe system performance with re-spect to these considerations.

Emergency Vehicle Maneuversand Control Laws (EVMCL) forAutomated Highway System(AHS)Roberto Horowitz, Shankar Sastry,UCBExplores how an AHS can be de-signed to most effectively accom-modate the operation of emer-gency vehicles when they areneeded to recover from an inci-dent. This is important in order tominimize emergency responsetimes so that injured people canreceive medical attention and fulloperation of the system can be re-stored as quickly as possible, facili-tating better traffic flow.

Failure Diagnosis and Monitor-ing Design for Intra-PlatoonCommunication SystemsRaja Sengupta, PATHOur objective is to design a faultdiagnosis and monitoring systemfor intra-platoon communicationsystems. The intra-platoon followercontrol relies on a time-drive com-munication system to supply front

and lead vehicle information atregular intervals. This informationis used for real-time longitudinalcontrol. The reliable operation ofthis communication system is im-portant for safe and comfortablelongitudinal control. We will de-velop general diagnostic andmonitoring designs that minimizethe set of assumptions used in di-agnostic design, and base our de-signs on common properties of thesystems.

Integration of Fault Detectionand Identification into a FaultTolerant Automated HighwaySystemJason L. Speyer, UCLAIn this project, the fault detectionand identification methods devel-oped earlier will be extended andcombined with the results of workby other researchers to lead to thedevelopment of a comprehensivefault tolerant control system thatcan be verified in subsequentwork. This is needed in order toensure that vehicle automationsystems can be developed with vi-able combinations of safety, per-formance and cost.http://talus.seas.ucla.edu/path

System Fault Detection in Hu-man-Augmented AutomatedDrivingTheodore Cohn, MasayoshiTomizuka, UCBFirst in a series of studies to explorehuman augmentation of AHS sys-tem components. Concentrates onthe issue of fault detection in a lat-

eral control task. Similar work willbe necessary in longitudinal con-trol, in lane changing, and in othermaneuvers projected for imple-mentation in AHS. The human op-erator is expected to be able tobring a unique perspective to theproblem of lateral control due todetailed human knowledge of thedriving environment, to a robustsensory capability, and to high-level reasoning capabilities.

2.4 System Safety

Design of Safe Switched andFeedback Based Maneuvers forVehicle Control SystemsRoberto Horowitz, Shankar Sastry,UCBThis project continues research onthe design of safe switched andfeedback based maneuvers for ve-hicle control systems: specifically,research on developing systematicand practical methodologies forevaluating hierarchical control ar-chitectures for ensuring safe sys-tem operation even after failureshave occurred.

Evaluation of Work Crew andHighway Hazard ConspicuityJim Misener, PATHBuilds on previous work with amodel of human vision for targetacquisition, to extend it to appli-cation for crash warning andavoidance situations. This is ex-pected to be useful for establish-

ing a base case (unaided driverperformance) for safety compari-sons with collision warning andavoidance systems.

Models of Vehicular Collision:Development and Simulationwith Emphasis on SafetyOliver M. O’Reilly, PanosPapadopoulos, UCBContinues an ongoing effort to de-velop refined predictions of the ef-fects of vehicle crashes using amathematical modeling approachthat combines relatively high fidel-ity and computational efficiency. Itwill produce predictions of the de-gree of damage to vehicles and (in-directly) injury to passengers in-volved in crashes. This contributesto a better understanding of thesafety implications of automatedvehicle operations at differentspacings.

Safety Analysis of Concept Sys-tems for Guidance and Controlof Transit BusesJames Bret Michael, PATHThis project continues the study ofthe safety of one of the mostpromising early-stage AVCS sys-tems, which would provide guid-ance and possibly control to tran-sit buses for precision docking athigh-level platforms to permit easyaccess by elderly and handicappedriders. The next step will consist oftwo tasks: structuring the busguidance and control safety issues,and characterization of the safetyof operation of conventionalbuses. Completion of this step will

18

result in a preliminary safety casefor bus guidance and control sys-tems.

Safety Evaluation of Vehicle Fol-lowing Operations by Fault Treeand SensitivityChing-Yao Chan, Andrew Segal,James Bret Michael, PATHOverall reliability of an AHS wasassessed using Fault Tree Analysis(FTA) in our earlier research. Thenext step is to perform a detailedparametric analysis of one or moreof the system functions, with a par-ticular emphasis on the sensor sys-tems, using cut sets and othertechniques. This is important todevelop an understanding of howdemanding the system and com-ponent performance specificationsneed to be in order to have a suffi-ciently safe AHS.

Studies of Collisions in VehicleFollowing Operations by Two-Dimensional Impact SimulationChing-Yao Chan, PATHFocuses on the effects of operat-ing conditions on vehicle damageand post-impact vehicle motions.Extends the current evaluation ofoperational parameters influenc-ing the severity of vehicle-follow-ing collisions. Simulation codesobtained from NHTSA and UMTRIare being modified for our vehiclecontrol research purposes. Closedloop control laws will be incorpo-rated into the simulations of ve-hicle-vehicle collisions and thepost-impact response, to deter-mine how effectively the effects of

the collisions can be mitigated byhigh performance vehicle control.

Testing, Verifying, and Validat-ing Critical Real-Time VehicleControl SoftwareAndrew Segal, James Bret Michael,PATHFocuses on software embedded inPATH’s experimental system for lat-eral control of a vehicle. One ma-jor area is the extreme difficulty ofproving the safety of software-in-tensive systems (such as vehiclecontrol systems). Uses the Piscessoftware tools to test the PATH real-time vehicle control code, includ-ing a “software harness” to test thelateral and longitudinal controllerstogether. It should contribute toour knowledge of the usefulness ofsystematic testing to identify soft-ware problems as part of the verifi-cation and validation process.

2.5 Design, Modeling andSimulation Tools

General Framework for Verifica-tion, Simulation, and Implemen-tation of Real-Time Control Al-gorithmsFarokh Eskafi, PATHWe are investigating and imple-menting a general framework forthe simulation, verification, andprototyping of control algorithmsfor intelligent vehicles and high-ways. The proposed frameworkuses a coherent set of tools thatmodel the system at hand; it takes

a control design and verifies andsimulates it, and generates codesthat can be executed on a targetreal-time software platform in thephysical system.

Regulation Layer Software Inte-grationAkash Deshpande, PATHThe vehicle lateral and longitudinalcontrol algorithms developed atPATH enable fully automated multi-car platoon operation with closespacing, computer-controlledthrottle, brake and steering. Whilethis development is successful, sig-nificant demands are being placedon regulation layer functionality.The regulation layer software inte-gration work under this proposal isa natural extension of the existingwork at PATH. It can be viewed as aprocess of maturing the vehiclecontrol technology developed atPATH into the second generationby refining and restructuring it tomeet the future demands on regu-lation layer functionality.

2.6 Enabling Technologies

Address Resolution, Configura-tion Management, and Routingin Wireless Communication forAVCSPravin Varaiya, UCBA difficult task in the design of ve-hicle-vehicle and vehicle-roadwaydata communication systems forthe regulation and coordination

layers is the design of protocols (ordistributed algorithms) for vehicleaddress resolution, configurationmanagement, and routing. Wepropose to solve these three prob-lems by inventing protocols foreach problem. The protocols willbe formally specified, verified forcorrectness, and analyzed for per-formance. We will also examinehow these protocols can be imple-mented in the wireless systemscurrently used or under develop-ment at PATH.

Aggregation of Direct and Indi-rect Positioning Sensor for Ve-hicle GuidanceAlice Agogino, Randy Galijan, UCB,Stanford Research InstituteThis comprehensive aggregationscheme would integrate informa-tion from all vehicle positioningsensors, consider safety relevantsensors, and take into account thepossibility of sensor failure andhow that failure may affect vehiclecontrol. In addition, recommenda-tions for sensor development willbe issued for input of sensor infor-mation from several sensors in avariety of situations that cannot becovered by one sensor alone.http://best.ME.Berkeley.EDU/~goebel/path.dir/path.html

Designating a Framework forVehicle-to-Vehicle and Vehicle-to-Roadside CommunicationFarokh Eskafi, PATHWe are designing a suitable hierar-chical communication structurethat can support a mobile environ-

19

ment with the distinct characteris-tic that the topology of the commu-nication network changes and hasto be adapted as the mobiles (ve-hicles and platoons) move. We willpopulate the structure with channelassignment protocols and fault han-dling algorithms as pertains to thecommunication systems.

Development of BinocularStereopis for Vehicle LateralControl and Obstacle DetectionJitendra Malik, UCBApplies computer vision tech-niques to the problems of vehiclecontrol on highways. We have de-veloped a stereo algorithm thatuses the output from a pair ofvideo cameras to detect and local-ize obstacles on the roadway; alsoa lane tracking system that deter-mines the position and orientationof the car with respect to the lanemarkers on the road surface. Wenow focus on understanding howthese systems can be used as partof an integrated vehicle controlsystem.

PATH LaboratoryJay Kniffen, PATHPATH Lab research work falls intothree major categories: wirelesscommunications, inertial naviga-tion, and real-time software. Spe-cific areas of research to be ad-dressed are: intervehicle controlcommunications, data fusion, ve-hicle-to-roadway communications,inertial navigation, and GPS. Workis underway to develop and testvehicle-to-vehicle communications

systems, and methods for integrat-ing carrier-phase DGPS with iner-tial measurements to obtain precisevehicle positioning information.

2.7 System Operations (net-work, link, coordination layers)

Performance of Hybrid (Auto-mated/Nonautomated) FreewaysCarlos Daganzo, Mike Cassidy,Wei-Hua Lin, UCBContinues basic research on theinteraction of traffic flows betweenautomated and non-automatedparts of a freeway, so that the ef-fects of transient disruptions totraffic flow can be better under-stood. These results are expectedto be applicable to other hybridfreeway operations, such as sepa-rate HOV lanes, as well as to auto-mated systems.

2.8 Aerodynamics

Transient Aerodynamic VehicleInteractionsÖmer Savas, UCBContinues experimental evaluationof transient aerodynamic effects onautomated vehicles, using scalemodel vehicles in a wind tunnel.The effects of transient vehiclemovements, such as lane changes,are tested to insure that we under-stand the effects that aerodynam-ics will have on the performance ofvehicles. The results will provide

essential input to control systemdesigners so that they can ensurethat the vehicle control systems willbe able to maintain effective andsafe performance at all times, in-cluding when the traffic stream in-cludes a mixture of diverse vehicles.http://www.me.berkeley.edu/fml/abstracts/chena970.html

Transient Aerodynamics in theIntervehicle FlowfieldFred Browand, Bogdan Marcu, USCInvestigates flow mechanisms forintervehicle flowfields when ve-hicles are operated in close prox-imity (e.g. in a platoon formation).Field tests suggest the existenceand importance of large-scale tur-bulent vortex structure within theflowfield. This behavior can be bet-ter understood by obtaining thevelocity vector field information.The objectives provide answers totwo concerns of interest: howlarge-scale unsteady flow motionsproduce fluctuating aerodynamicforce, and how they provide forventilation in-to and out-of theintervehicle flowfield.

2.9 Heavy Vehicles

Lateral Control of Heavy DutyVehicles for Automated HighwaySystemMasayoshi Tomizuka, UCBExtends an earlier project on lat-eral control of heavy vehicles, fromanalysis and design to experimen-

tal verification. It involves imple-menting control laws on heavy ve-hicles (single or multiple unittrucks and/or buses) and then test-ing them.

Longitudinal Control of HeavyDuty Vehicles: ExperimentalEvaluationIoannis Kanellakopoulos, UCLAInvolves implementing controllaws on heavy vehicles (single ormultiple unit trucks and/or buses)and then testing them to ensurethat the vehicles perform as in-tended. This is important becauseof the economic potential forheavy vehicles to be early users ofvehicle automation technology.http://ansl.ee.ucla.edu/ahv

20

SYSTEMS Research

3.1 Architecture

California Systems ArchitectureStudy-Part IIITom Horan, Randolph Hall,Claremont Graduate School, USCExamines the relationship be-tween the emerging national ITSsystems architecture and architec-ture developments occurring inthe State of California. The pri-mary objective of the project willbe to ensure that system operatorsand implementers in Californiacan provide input into implemen-tation strategies for ensuring effi-cient deployment of the nationalarchitecture within the state.

3.2 Policy and Planning

HOT Lanes and Demand for Trav-el Time SavingsJoy W. Dahlgren, PATHThe High Occupancy Toll (HOT)lanes on ten miles of State Route91 in Orange County offer a rareopportunity to study elasticity ofdemand for freeway time savings,

and the time savings elasticity ofcarpool formation. Policy ques-tions addressed are: What are therelative benefits of added HOT orother lanes, in terms of person-de-lay and emissions? What do thosebenefits suggest about possiblerevenue from tolls, or about op-portunities for constructing cost-effective, financially and politicallyfeasible HOT or toll lanes in Cali-fornia?

3.3 Benefits and ImpactsAssessments

Ventura/Lompoc Smart CardDemonstration EvaluationGenevieve Giuliano, Ted Chira-Chavala, James E. Moore, II; USC,UCBThis project is evaluating theVentura/Lompoc Smart Card Dem-onstration. It will integrate a Pas-senger Transaction Unit and a Ve-hicle Monitoring system.

Cost-Benefit Analysis for ITSManagement DecisionsDavid Gillen, Jianling Li, UCBMajor goals of this continuingproject are to support Caltrans

(and other public agencies in Cali-fornia) in making a variety of trans-portation management decisions,ranging from planning through in-vestment to operation, and in de-veloping information appropriateto supporting these various deci-sions. Since one purpose of provid-ing this information is to help builda broad consensus, we will alsoconsider the communication needsof a secondary audience of publicofficials, the public themselves, andvarious stakeholder groups, includ-ing the private sector.

Evaluation of Orange CountyTransit & Traffic ManagementIntegration and Traveler Infor-mationRandolph Hall, USCAn evaluation of the cooperativeagreement established betweenCaltrans and the Orange CountyTransportation Authority (OCTA)to develop an integrated informa-tion system for transit/traffic man-agement and traveler information.The project is intended to improvethe cooperative management ofthe transportation system and alsoallow travelers to get real-time in-formation on both transit and traf-fic conditions in Orange County.

Evaluation of the Advanced Traf-fic Control System Field Opera-tional TestC. Arthur (Art) MacCarley, James E.Moore II, R. Jayakrishnan, MichaelG. McNally; Cal Poly, USC, UCIThe project will evaluate an ad-vanced traffic control system(SCOOT) in the City of Anaheimas part of the FHWA Field Opera-tional Test Program. It will alsoevaluate a video traffic detectionsystem.

ATMIS Field Operational TestsOversightRobert Tam, PATHThis project will oversee three fieldoperational test evaluations:TransCal, Lompoc Smart Card,Orange County Transit & TrafficManagement Integration.

Independent Evaluation of Cityof Irvine Advanced Traffic Con-trol System Field OperationalTestC. Arthur (Art) MacCarley, R.Jayakrishnan, Michael G. McNally,James E. Moore II; Cal Poly San LuisObispo, USC, UCIAn evaluation of the advanced traf-fic control system in the City ofIrvine. It will evaluate the effective-ness of an integrated freeway andarterial control system for the FHWAField Operational Test Program.

ITS Evaluation WebsiteJoy W. Dahlgren, PATHOur highest priority task is addingevaluatory information to the LEAPwebsite (http://www.path.ber-

21

keley.edu/~leap/) regarding ITSservices and technologies. Concur-rently, there will be improvementsto website presentation, plus ad-ditional publicity and the additionof information regarding systemsarchitecture and analytical tools toassist potential implementers.Once all of the published eval-uatory information has beenadded to the website, attentionwill be directed toward seeking outevaluatory information from un-published sources.

Phase Two Evaluation of the LosAngeles Spread Spectrum RadioFOTVictor Li, USCThis project is to conduct a PhaseTwo evaluation of the City of LosAngeles Spread Spectrum RadioField Operational Test. The perfor-mance of this technology will beevaluated at 87 signalized intersec-tions in the Mar Vista area of LosAngeles. The evaluation will assessthe ability of the technology toeconomically and reliably inter-connect project signals.

San Gabriel Valley Smart ShuttleTechnology Field OperationalTest EvaluationGenevieve Giuliano, James E.Moore, II, USCThis project’s original objectivewas to evaluate the Athenaproject, investigating the potentialfor real-time ride matching andpersonalized public transportationservices. However, the field opera-tional test has been canceled, and

the funds will be used to evaluatethe Smart Shuttle technology FieldOperational Test Project in the SanGabriel Valley. The Smart Shuttlewill act as a responsive transitfeeder to a fixed route bus service.

TransCal Field Operational TestIndependent EvaluationAram Stein, UCDThe evaluation will assess field op-erational test systems and theircomponents for reliability, main-tainability, and usability. User ac-ceptance of various technologiesthat will be used to disseminate in-formation will also be studied, aswill the overall effect of the test onaltering travel patterns, reducingfuel consumption, and improvingtraffic flow and air quality. A cost-benefit analysis will identify thecosts to public and private entities,and determine whether the ben-efits offset the costs, and whetherthe systems being tested can moveinto the implementation mode.

TravInfo Evaluation–Target, Net-work Performance, and VAR Cus-tomer StudiesYoungbin Yim, Robert Tam, PATHThe target survey covers a selectedcorridor to assess the benefits ofTravInfo in the event of major inci-dents. The network performanceevaluation focuses on analyzingmajor incidents, in a congested lo-cation, where travel alternativesexist. Detailed case studies willcompare incidents before TravInfoto incidents after, using a simula-tion model. The Value-Added

Reseller customer survey will pro-vide information on consumerswho actually purchase and useATIS devices and subscribe toTravInfo services.

3.4 Transportation Modeling

Identification and Prioritizationof Environmentally Beneficial In-telligent Transportation Tech-nologies: Year TwoDaniel Sperling, UCDAnalyzes the emissions and energyimpacts associated with the de-ployment of a range of intelligenttechnologies and systems. Resultscan be used to formulate strategiesand designs to fast-track thosetechnologies that have positive im-pacts, and to enhance the environ-

mental attractiveness of those thatyield little or no environmentalbenefits. The research approachinvolves policy and regulatoryanalysis, market research, andemissions and demand modeling.

Simulation of ITS on the IrvineFOT Area Using The PARAMICSScalable Microscopic TrafficSimulatorBaher Abdulhai, PATHThis research utilizes the previouslyunavailable capabilities of the UCIrvine labs and the ATMIS Testbed.These are: the fairly young, wellinstrumented and manageableIrvine network: the variety of ITSmodeling components of theTestbed and its on-line real-timedata acquisition capabilities; andthe capabilities of PARAMICS, anewly acquired traffic simulationand visualization tool.

22

23

PATH researchers share the results of their work in a variety of media: demonstra-tions, presentations, research reports, via PATH’s newsletter Intellimotion, on the Web,on PATH’s own videos, and by cooperating with the many interested news organiza-tions who come to PATH to do interviews and shoot video and photographs.

Video and PhotoThe past year saw video and radio production crews from Britain, Sweden, Japan,Hong Kong, and the US at the Richmond headquarters. PATH’s Publications groupsupports news organizations with our own stock photographs and video footage, aswell as producing video and still images for PATH’s own use.

Reports and PresentationsPATH produced almost a hundred research reports, working papers, technical notes,and specialty brochures, plus an annual report and well over a thousand pieces ofmaterial for presentations, trade show exhibits, and informational booths. (PATHresearchers presented at over 60 conferences, workshops, and seminars last year.)

PATH Web SiteMuch of this work, along with a What’s New page, an index to PATH research projectsand researchers, a media info page, and links to other ITS sites, is available on theWeb at http://www.path.berkeley.edu/

IntellimotionPATH’s world-class newsletter serves to explain PATH research to people who have aprofessional interest in intelligent transportation systems but are not necessarily spe-cialists in the field being discussed. Intellimotion mainly covers advances in PATH’sown research, occasionally reaching farther afield, as far as Europe or Asia, to explorenew work of particular interest to PATH partners. Intellimotion appears four times ayear. Recent issues have looked at recent advances in vehicle control, PATH projectsin progress, transit research, traffic manage-ment, a special issue on Demo ’97, and atwo-issue examination of developments intraffic surveillance. For a free subscriptionto Intellimotion, contact Bill Stone, Publica-tions Manager–by phone at (510) 231-5601or by email at bstone@uclink.berkeley.edu.

Intellimotion is available on the Web at:www.path.berkeley.edu/PATH/Intellimotion

Information and Media

24

25

ATMIS(Advanced Transportation Man-agement Information Systems)

1.1 ATMS (AdvancedTransportion ManagementSystems)

Alternative Traffic Signal Illumi-nationTheodore E. Cohn, Daniel Green-house, Richard KnowlesNew technologies have made itpossible to produce traffic signalswith significant advantages overstandard incandescent signals, in-cluding greater energy efficiencyand lower maintenance costs. Wehave developed a quality index weterm the usability factor (UF) thatcan be used to evaluate the visibil-ity of a new device relative to thatof a standard reference lamp, andhave measured UFs of a variety ofnew types of lamps.UCB-ITS-PRR-98-19*April 1998, 15 pp, $5.00

Design of a Machine Vision-Based, Vehicle Actuated TrafficSignal ControllerMichael Cassidy, Benjamin CoifmanPresents a signal controller algo-rithm to capitalize on the extendedinformation provided by wide-areadetection at isolated intersections.Using computer simulation, differ-ent control strategies are evaluatedand the performance of the pro-posed wide-area detection systemwith conventional signal control-lers is compared. Results indicatethat wide-area vehicle actuated(VA) control can yield significantimprovements over conventionalVA control strategies.UCB-ITS-PRR-98-7February 1998, 28 pp, $10.00

Effects of Data Inaccuracy on thePerformance of Traffic SignalTiming PlansWei-Hua Lin, Lawrence C. LiaoStudies signal timing plans cali-brated with perfect or imperfectinformation. The information con-sidered includes arrival rates andarrival distributions. The study isconducted for different levels ofarrival rates and different forms ofarrival distributions under a widerange of arrival information inac-curacy and traffic intensity, and forintersections with balanced andunbalanced flows.UCB-ITS-PWP-98-6February 1998, 20 pp, $5.00

Interstate-880 Field Experiment:Effectiveness of Incident Detec-tion Using Cellular PhonesAlexander Skabardonis, Ted Chira-Chavala, Daniel RydzewskiCellular phones have the highestdetection rate among the detec-tion sources examined. They de-tect 38 percent of freeway inci-dents (accidents and lane-blockingdisablements). The combination ofcellular phones, freeway servicepatrol (FSP), and the CaliforniaHighway Patrol detect 75 percentof all the incidents.UCB-ITS-PRR-98-1*January 1998, 61 pp, $15.00

Los Angeles Freeway Service Pa-trol (FSP) Evaluation: StudyMethodology and PreliminaryFindingsKarl Petty, Robert L. Bertini,Alexander Skabardonis, PravinVaraiyaA methodology for evaluating theeffectiveness, in terms of benefit-to-cost ratio, of the Freeway Ser-vice Patrol (FSP) in a Los Angelesfreeway section. The methodologyaddresses the process of estimat-ing incident delay using probe ve-hicles, and the lack of “before”field data. We discuss the difficul-ties that these problems present.

We also report some preliminaryfindings.UCB-ITS-PWP-97-17*May 1997, 27 pp, $10.00

Review of the Optimized Policiesfor Adaptive Control Strategy(OPAC)Lawrence C. LiaoOPAC is a real-time demand-re-sponsive traffic signal timing opti-mization algorithm for individualintersections that can serve as abuilding block for demand-re-sponsive decentralized control ina network. This paper describes itsdevelopment history, implementa-tion, and performance.UCB-ITS-PWP-98-9April 1998, 9 pp, $5.00

1.2 Traffic Surveillance

Development Testing and Evalu-ation of Advanced Techniquesfor Freeway Incident DetectionStephen G. Ritchie, Baher AbdulhaiWe present a definition of the at-tributes and capabilities that a po-tentially universal freeway incidentdetection framework should pos-sess, discuss the training and test-ing of a probabilistic neural net-work (PNN) to fulfill the defineduniversality requirements, andevaluate the PNN relative to theproposed universality template.UCB-ITS-PWP-97-22*July 1997, 33 pp, $10.00

Los Angeles Freeway Service Pa-trol (FSP) Evaluation: Site Selec-tion and Database DevelopmentRobert Bertini, Karl Petty, AlexanderSkabardonis, Pravin VaraiyaFrom an initial list of ten possiblesites, detailed analysis was per-formed in order to rank the sitesaccording to specific parametersdeveloped by the study team. Siteselection was based on congestion

levels, average travel speeds,shoulder width, number of in-laneFSP assists, average daily traffic,directionality, and the density offunctional loop detectors. Oncethe site was selected, a detailed,comprehensive, computerized da-tabase was developed that com-pletely describes traffic conditionssix hours each day for thirty-twoweekdays.UCB-ITS-PWP-97-16May 1997, 60 pp, $15.00

Videobased Vehicle SignatureAnalysis and Tracking Phase 1:Verification of Concept and Pre-liminary TestingArt MacCarleyPhase One of this four-phase studyinvolves field data collection andlaboratory data reduction to vali-date the operational concept ofusing computer-vision methods tomake simple measurements of ex-ternal dimensions, points of opti-cal demarcation, and predominantcolors of each vehicle. We con-clude that the method is valid forthe tracking of individual vehiclesthrough freeway traffic, but onlywith adequate ambient lighting, orwith either supplemental illumina-tion or the use of improved dy-namic range video cameras.UCB-ITS-PWP-98-10*May 1998, 39 pp, $10.00

1.3 ATIS (Advanced TravelerInformation Systems)

Consumer Research on AdvancedTraveler Information Systems:TravInfo Field Operational TestYoungbin YimThe purpose of the evaluationstudy is to measure changes in in-dividual travel patterns that resultfrom the TravInfo advanced trav-eler information system (ATIS)project and to assess traveler ac-ceptance of and preference forATIS technology. Consumer choiceconcepts were investigated to bet-ter understand the impact of ATISon travel choices with real-timetraveler information and to estab-lish a conceptual framework inwhich the TravInfo evaluationstudy could be conducted.UCB-ITS-PWP-97-18July 1997, 23 pp, $5.00

Recent PATH PublicationsResearch Reports, Working Papers, and Technical Notes from July 1997–July 1998 are listed below.Those marked with an asterisk (and still more recent publications) can be found on the World Wide Web at:http://www.path.berkeley.edu/PATH/Publications

26

Exploration of the Market forTraffic InformationShirley Chan, Matthew Malchow,Adib KanafaniSince traffic information is indi-rectly priced and experiences sig-nificant economies-of-scale, it cannot be described by the classic de-mand model normally used to ex-plain most goods. Therefore, thisreport focuses on the derivation ofa demand model that describesthe supply and cost mechanismsinfluencing the market for trafficinformation. Several suggestionsfor both the commercial broadcaststations and the public agenciesthat aim to maximize the totalbenefits of traffic information arepresented.UCB-ITS-PRR-97-35*October 1997, 46 pp, $10.00

Smart Call Box Field OperationalTest Evaluation: Subtest ReportsJames H. Banks, Patrick A. PowellSmart call boxes are an enhancedversion of devices used as emer-gency call boxes in California. TheSmart Call Box FOT evaluated thefeasibility and cost-effectiveness ofusing them for five data process-ing and transmission tasks: trafficcensus, incident detection, hazard-ous weather reporting, change-able message sign (CMS) control,and video surveillance. This reportpresents detailed evaluation resultsfor the individual subtests.UCB-ITS-PRR-97-32July 1997, 202 pp, $30.00

Supply-Side Evaluation of RadioTraffic InformationYoungbin Yim, Brian Pfeifle, PaulHellmanThis study investigated the datacollection and dissemination pro-cesses of radio traffic informationin the San Francisco Bay Area. Theprogram directors from thirty-tworadio stations were interviewed tounderstand the processes, and ra-dio traffic reports were analyzed toevaluate the contents. Radio infor-mation is limited to traffic flow, in-cident conditions, and transitschedule. Travel time delays orlane blockage durations were notincluded in typical radio reports.UCB-ITS-PWP-97-20July 1997, 14 pp, $5.00

Survey of Value Added Resellers:Private Sector Views on AdvancedTraveler Information MarketsJean-Luc Ygnace, Youngbin Yim,Stein WeissenbergerAnalysis of interviews conductedamong private sector firms partici-pating in the federal Field Opera-tional Test of TravInfo, rangingfrom product manufacturers toservice providers, including trafficinformation reporting firms, geo-graphic data collection and dis-semination firms, and ATIS devicedistributors. The consensus is thatcooperation between the privateand public sectors is most impor-tant for ATIS implementation, butthat there is a lack of establishedpublic policy direction regardinglong-term goals and near-termimplementation strategies.UCB-ITS-PWP-97-19July 1997, 15 pp, $5.00

TravInfo Evaluation (TechnologyElement) Traveler InformationCenter (TIC) Study (September1996 - June 1997)Mark A. Miller, Dimitri LoukakosTravInfo is part of the Federal High-way Administration (FHWA) FieldOperational Test (FOT) program.The project’s objective is to de-velop a multi-modal, public/pri-vate traveler information systemfor the San Francisco Bay Area. Thisreport documents the evaluationof TravInfo’s main public-sectorcomponent, a Traveler InformationCenter (TIC) that collects and in-tegrates both static and dynamictraveler informationwith respect tosystem reliability, communicationsinterface, and operator interfaceelements.UCB-ITS-PWP-98-7*March 1998, 93 pp, $20.00

TravInfo Evaluation: Traveler Re-sponse Element Broad Area StudyYoungbin Yim, Randolph Hall, SteinWeissenbergerThe purpose of this survey was todefine baseline attitudes, opinionsand travel behavior of Bay Areatravelers for the assessment ofTravInfo’s general impact. Ques-tions were directed to the trip char-acteristics, the acquisition patternsof pre-trip and en route traffic in-formation, the effects of traffic in-formation on travel behavior and

the demographic profiles of BayArea travelers.UCB-ITS-PWP-97-9*March 1997, 27 pp, $10.00

TravInfo Field Operational Test:Work Plan for the Target, Net-work, and Value Added Reseller(VAR) Customer StudiesYoungbin Yim, Randolph Hall, AlexSkabardonis, Robert Tam, SteinWeissenbergerThe target study focuses on a highimpact Bay Area corridor to evalu-ate TravInfo impacts or benefits toBay Area travelers. The networkperformance evaluation simulatesroad conditions in that corridor toestimate TravInfo impacts at theaggregate level. The VAR customerstudy provides information onconsumers who use AdvancedTraveler Information Systems.UCB-ITS-PWP-97-14*April 1997, 40 pp, $10.00

1.4 APTS (Advanced PublicTransportation Systems)

Advanced Public TransportationSystems: A Taxonomy, Commer-cial Availability and DeploymentPhase IIAsad Khattak, Mark Hickman,Pierce Gould, ThananjeyanParamsothyThis study refines a taxonomy oftransit technologies developedduring Phase I of the study anduses it to explore the availabilityof new technologies and their im-pacts in transit agencies. Threesurveys were conducted and theirresults are reported. To explore theavailability of APTS technologies,technology suppliers and transitoperators were surveyed.UCB-ITS-PRR-97-16April 1997, 82 pp, $25.00

Evaluation of ITS Technology forBus Timed TransfersRandolph Hall, Maged Dessouky,Ali Nowroozi, Ali SinghThis paper evaluates dispatchingrules at timed transfer transit ter-minals with respect to total pas-senger delay and to the number ofpassengers missing their connec-tions. Empirical data collected bythe Los Angeles County Metropoli-

tan Transit Agency on bus stop ar-rival times are used. We concludethat ITS provides modest benefitsin terms of reduction in passengerdelay.UCB-ITS-PRR-97-37*October 1997, 75 pp, $5.00

Control Strategies for TransitPriorityAlexander SkabardonisTraffic control methods to give pri-ority to transit vehicles could im-prove transit operations, reduceoperating costs, and increase tran-sit ridership. This report criticallyreviews existing control strategiesimplemented in signal controllednetworks and proposes controlstrategies to improve transit per-formance, along with an analysistechnique to evaluate their effec-tiveness.UCB-ITS-PRR-98-2January 1998, 30 pp, $10.00

Impact of Intelligent Transporta-tion Systems on Bus Driver Effec-tivenessDiane E. Bailey, Randolph HallAnalysis of data gathered from ob-servations at nearly 300 bus stopsindicates that while ITS may poten-tially improve driver effectiveness,current practices among driversand passengers are likely to limitactual gains. The clearest benefitsof ITS come in the automatic pro-cessing of information related totransferring passengers, and in theincreased speed with which emer-gency and maintenance calls canbe handled.UCB-ITS-PWP-97-25October 1997, 36 pp, $10.00

ITS Information and Services toEnhance the Mobility of DisabledTravelersWan-Hui Chen, Rochelle Uwaine,Kelley Klaver, Ken Kurani, Paul P.JovanisA stated preference survey inquiredas to whether subjects would makemore trips by transit, paratransit, orreal-time paratransit if kiosk, on-board, in-home, and/or personalinformation systems were avail-able. Results show that these sys-tems allow for more trip flexibilitythan what is now available.UCB-ITS-PRR-98-20*May 1998, 18 pp, $5.00

27

Light Rail System Safety Improve-ments Using ITS TechnologiesTed Chira-Chavala, Ben Coifman,Dan Empey, Mark Hansen, EdLechner, Chris PorterDescribes research to identify andanalyze the effectiveness of coun-termeasures designed to reducelight rail crashes. Focus is on colli-sions with road vehicles at intersec-tions. The light rail system for theSanta Clara County TransportationAgency in California served as thefocus of the study.UCB-ITS-PRR-97-39November 1997, 192 pp, $25.00

Median Light Rail Crossings: Ac-cident Causation and Counter-measuresBenjamin Coifman, Robert L. BertiniLight rail systems often incorporatea grade crossing into an intersec-tion environment. These complexintersections can be confusing todrivers. It can be a matter of centi-meters from the left turn lane tothe right-of-way on the mediantrackage. We synthesize accidentcausation literature from manyfields as related to median cross-ings.UCB-ITS-PWP-97-13*April 1997, 30 pp, $10.00

Orange County Transit ProbeEvaluation: Phase I InstitutionalFindingsRandolph W. HallFirst report of a multi-phasedevaluation of this multi-agencyproject, intended to equip a fleetof buses with GPS (global position-ing system) based tracking equip-ment, and to use tracking data for:bus schedule adherence and fleetmanagement, collection of infor-mation on roadway traffic conges-tion, and dissemination of transitdata to patrons.UCB-ITS-PWP-97-12*March 1997, 17 pp, $5.00

Advanced Information Tech-niques and Paratransit Servicesto Enhance Mobility of Elderlyand Disabled TravelersWan-Hui Chen, Kelley Klaver, Roch-elle Uwaine, Paul P. JovanisFollow-up study to a previousstudy. Computer Assisted Tele-phone Interviews (CATI) as well asmail-out-and-call-in surveys were

administered, and system at-tribute and stated preferencequestions were employed. Resultsshow that it is possible to increasethe mobility of elderly and dis-abled travelers with the provisionof important public transit infor-mation.UCB-ITS-PRR-98-21May 1998, 153 pp, $15.00

Transit ITS Simulator (TRANS-ITS): Design DocumentMaged Dessouky, Ajay Singh,Randolph HallDescribes a model developed tosimulate different kinds of transitnetworks with varying numbers ofbus lines and different travel pat-terns. An actual system can besimulated. A set of experiments isbeing developed to analyze the ef-fect of using ITS on several perfor-mance metrics, including averagebus arrival and departure lateness,average passenger trip time, andaverage total passenger waitingtime.UCB-ITS-PWP-97-26October 1997, 36 pp, $10.00

AVCSS/AHS(Advanced Vehicle Control andSafety Systems and AutomatedHighway Systems)

2.1 Concept Definition

Evaluation and Analysis of Auto-mated Highway System Con-cepts and ArchitecturesPetros IoannouThe purpose of this project was toselect, evaluate and analyze a num-ber of promising Automated High-way System (AHS) operational con-cepts based on previous work. Theevaluation and analysis includesheadway distributions for vehiclefollowing and lane changing, ca-pacity calculations, and the mod-eling, analysis and control of theresulting traffic flow. Floppy diskscontaining the “Inter-Vehicle Spac-ing Software Tool” are included.UCB-ITS-PRR-98-12*March 1998, 225 pp, $25.00

Evaluation of Mixed Automated/Manual TrafficPetros IoannouAnalyzes the requirements, issuesand effects on safety and efficiencythat will result from allowing semi-automated and fully-automatedvehicles to operate on the existinghighway system together withmanually driven vehicles. Simula-tions reveal that significant im-provement in the traffic flow canbe achieved with a high degree ofpenetration of fully-automated ve-hicles in mixed traffic. One of thesignificant findings is that a singlesemi-automated/fully-automatedvehicle may attenuate large distur-bances caused by rapid accelera-tions/decelerations and preventthe slinky effect from propagating.UCB-ITS-PRR-98-13*March 1998, 112 pp, $20.00

Focus Group Study of AutomatedHighway Systems and RelatedTechnologiesYoungbin YimFindings focus on attitudes toadaptive cruise control and colli-sion avoidance systems in the SanFrancisco Bay Area. A majority ofthe participants had a favorablereaction to AHS despite the factthat almost all were concernedabout its safety and funding capa-bility. Responses to adaptive cruisecontrol were generally positive.Participants recognized the safetybenefits, convenience, and espe-cially the stress reduction of usingan automated highway system,when comparing it to the collisionavoidance system.UCB-ITS-PWP-97-23July 1997, 31 pp, $10.00

National Automated HighwaySystem Consortium: ModelingStakeholder Preferences ProjectJohn LathropDescribes results of the project’sprimary tasks: 1) A social decision-analytic framework for evaluatingAHS options. 2) Results of twostakeholder focus group meetings,used to elicit concerns, anticipatedbenefits and impacts (includingspin-offs and deployability/transi-tion concerns), and performance/impact measures (PIMs) that rep-resent those concerns/benefits/impacts. 3) Interpretation of theresults of the focus group meet-

ings in the form of useful guidancefor AHS option development.UCB-ITS-PRR-97-26*June 1997, 93 pp, $20.00

2.2 Vehicle Dynamics andControl

Approximate Method to Deter-mine the Worst Case Performanceof a Nonlinear Dynamical SystemBenson H. Tongue, Andrew PackardA method through which a usercan evaluate differing platooncontrol strategies and determineeach strategy’s worst case behav-ior under bounded parametricvariations. The usefulness of theapproach is that a platoon de-signer can determine how robusther design strategy is in the faceof system uncertainties. Themethod allows for an arbitrarynumber of uncertain parameters,unmodeled system components,and system inputs.UCB-ITS-PRR-98-3*January 1998, 31 pp, $10.00

Brake System Analysis, Reliabil-ity Testing and Control UsingBench ExperimentsZ. Xu, B. YangInvestigation of the dynamics andreliability of a brake control systemusing a Lincoln Town Car brakesystem. Two models are obtained,based on experimental results: onefor the whole brake-actuator sys-tem, the other for the hydraulicactuator.UCB-ITS-PRR-97-10February 1997, $10.00

Brake System Modeling, Controland Integrated Brake/ThrottleSwitching: Phase IJ.K. Hedrick, J.C. Gerdes, D.B.Maciuca, D. SwaroopPresents findings obtained duringthe first year of a three-year projecton modeling and control issues re-garding braking in an IntelligentVehicles and Highway Systems(IVHS) environment. Specifically,the report addresses the issue ofvehicle control in an automatedhighway system, brake actuation,and coordinated brake andthrottle switching.UCB-ITS-PRR-97-21May 1997, 90 pp, $15.00

28

Development and ExperimentalEvaluation of Autonomous Ve-hicles for Roadway/Vehicle Co-operative DrivingPetros IoannouDescribes the design and testing ofa vehicle control system to achievefull vehicle automation in the lon-gitudinal direction. The systemconsists of a supervisory controllerthat processes inputs from thedriver, the infrastructure, other ve-hicles, and on-board sensors, andsends appropriate commands tothe brake and throttle controllers.Experiments on I-15 demonstratethe performance of the throttlecontroller.UCB-ITS-PRR-98-9*February 1998, 144 pp, $25.00

Fundamental Issues of VehicleSteering Control for HighwayAutomationJürgen Guldner, Han-Shue Tan,Satyajit PatwardhanImplementation of ‘look-down’reference systems for detecting lat-eral vehicle displacement from thelane center has encountered prac-tical constraints and limitations,expecially for highway-speed driv-ing. By analyzing lateral vehicledynamics in the light of thesecontraints, we establish a generalframework for automatic steeringcontrol in an AHS environmentand contrast various directions forcontrol design.UCB-ITS-PWP-97-11*March 1997, 36 pp, $10.00

Integrated Maneuvering ControlDesign and Experiments: Reportfor Phase IIIJ.K. Hedrick, T. Yoshioka, Y.H. Chen,T. Connolly, L.R. ShenPresents a control system calledCICC for vehicle-following andcollision-avoidance. CICC containsseveral sub-systems, such as cruisecontrol and distancing control.While each sub-system is designedto maintain system stability, CICCachieves good comfort as well assufficient capacity for avoiding col-lisions. Performance of a CICC hasbeen evaluated through simula-tions with a vehicle model con-taining several non-linearities toemulate real vehicle responses.UCB-ITS-PRR-97-30July 1997, 58 pp, $15.00

Integrated Maneuvering Controlfor Automated Highway SystemsBased on a Magnetic Reference/Sensing SystemHung Pham, Masayoshi Tomizuka,J.K. HedrickA 26-state simulation model is pro-posed that offers the necessarylevel of fidelity for the study ofcombined vehicle maneuvers intypical freeway operations, whileminimizing the level of complex-ity. To facilitate coupled controldesign for multiple input, multipleoutput (MIMO) systems withunseparable input nonlinearities,sufficient conditions are presentedfor the existence of an approxi-mate (numerically obtained) con-trol that guarantees boundedtracking.UCB-ITS-PRR-97-28July 1997, 101 pp, $20.00

Longitudinal Control Develop-ment for IVHS Fully Automatedand Semi-Automated SystemPhase IIIJ.K. Hedrick, V. Garg, J.C. Gerdes,D.B Maciuca, D. SwaroopThe concluding findings of athree-year project concerned spe-cifically with vehicle control in anautomated highway system, brakeactuation, and brake control. Au-tomated vehicle platooning onisolated lanes of an automatedhighway are included. Perfor-mance specifications, control sys-tem architecture, vehicle controlalgorithms, actuator and sensorspecifications, and communica-tion requirements are also ad-dressed. The issue of switchingfrom throttle to brake actuation isaddressed in detail.UCB-ITS-PRR-97-20May 1997, 58 pp, $15.00

Robust Automatic Steering Con-trol for Look-Down ReferenceSystems with Front and RearSensorsJürgen Guldner, Wolfgang Sienel,Han-Shue Tan, Jürgen Ackermann,Satyajit Patwardhan, Tilman BüntePrevious studies showed that reli-able automatic driving at highwayspeed may not be achieved underpractical conditions with look-down reference systems that haveonly one sensor at the frontbumper. An additional lateral dis-placement sensor is added here at

the tail bumper to solve the auto-matic steering control problem.Performance and robustness of thefinal controller was verified experi-mentally at PATH.UCB-ITS-PWP-97-24September 1997, 17 pp, $5.00

String Stablility of Intercon-nected Systems: An Applicationto Platooning in AutomatedHighway SystemsD.V.A.H.G. SwaroopFrom an application point of view,this study proposes practical pla-tooning strategies. From a theo-retical point of view, it extends theconcepts of stability to a countablyinfinite interconnection of generalnonlinear dynamical systems andintroduces techniques for analysisand design of decentralized con-trol laws for them.UCB-ITS-PRR-97-14April 1997, 115 pp, $20.00

Trajectory Design and Imple-mentation of Longitudinal Ma-neuvers on AHS Automated andTransition LanesPin-Yen Chen, Luis Alvarez, RobertoHorowitzThis new design is a modificationof the safe trajectory proposed ear-lier for the regulation layer maneu-vers in the PATH AHS hierarchicalarchitecture.UCB-ITS-PRR-97-49*November 1997, 40 pp, $10.00

Unified Lateral Motion Controlof Vehicles for Lane Change Ma-neuvers in Automated HighwaySystemsWonshik Chee, MasayoshiTomizukaThe unified lateral guidance algo-rithm proposed consists of a de-sired yaw rate generator and a yawrate tracking controller. The de-sired yaw rate for lane followingmaneuvers is obtained by analyz-ing the kinematics of the lateralposition measurement from themagnetic road reference system.The desired yaw rate for lanechange maneuvers is obtainedfrom the virtual desired trajectory.A mode switching algorithm forsmooth transitions from the lanechange to lane following is pro-posed.UCB-ITS-PRR-97-29July 1997, 72 pp, $15.00

2.3 Fault Detection and Mal-function Management

Design of Fault Tolerant ControlSystems for AHSS. Sastry, R. Horowitz, J.K. HedrickDescribes fault detection and han-dling designs used in the longitu-dinal control system of platoonedautomated vehicles, with resultsfrom experimental testing of thedesigns. We have extended pastwork on fault handling to dealwith several special fault classes,and have also designed a consis-tent interface between the faultdetection and handling modulesand implemented it in the SHIFTprogramming language for thespecification of hybrid systems.UCB-ITS-PRR-98-16*April 1998, 65 pp, $15.00

Fault Detection and Identifica-tion with Application to Ad-vanced Vehicle Control SystemsRandal K. Douglas, Walter H.Chung, Durga P. Malladi, Robert H.Chen, Jason L. Speyer and D. LewisMingoriA continuation of earlier work, inwhich a preliminary design of ahealth monitoring system for au-tomated vehicles was described.Refinements to the residual gen-eration scheme are described thatbring our systems in closer align-ment with the needs of the UCBerkeley group.UCB-ITS-PRR-97-51*December 1997, 45 pp, $15.00

Integration of Fault Detectionand Identification into a FaultTolerant Automated HighwaySystemRandal K. Douglas, Walter H.Chung, Durga P. Malladi, Robert H.Chen, Jason L. Speyer and D. LewisMingoriA continuation of earlier work onvehicle fault detection and identi-fication, which describes a vehiclehealth management approachbased on analytic redundancy. Thissystem combines dynamic state in-formation already generated bythe existing filter designs withintervehicle analytic redundancy.UCB-ITS-PRR-97-52*December 1997, 275 pp, $35.00

29

2.4 System Safety

Intelligent Diagnosis Based onValidated and Fused Data for Re-liability and Safety Enhancementof Automated Vehicles in anIVHSAlice Agogino, Susan Chao, KaiGoebel, Satnam Alag, BradlyCammon, Jiangxin WangThis report is mainly concernedwith the control system modulesthat take validated and fused sen-sor data as input and giveprobablilities of hazards as output.These modules are: Fault Detec-tion, Hazard Analysis, and SafetyDecision Maker. We carried outdetailed failure mode effect analy-sis for the longitudinal sensors tosystematically capture the effectsand reasons for failures.UCB-ITS-PRR-98-17April 1998, 135 pp, $20.00

Intelligent Sensor Validation andFusion for Vehicle Guidance Us-ing Probabilistic and FuzzyMethodsAlice Agogino, Kai Goebel, SatnamAlagSensor information is always cor-rupted to some degree by noise;moreover, sensors can fail. Sensorvalidation is needed to assess andadjust the integrity of the sensorinformation. In the presence of re-dundant information, sensor datamust be fused. In this report, sev-eral methods to accomplish thevalidation and fusion are devel-oped. Probabilistic techniques per-form better in the presence ofGaussian noise alone, while thefuzzy approach behaves better inthe presence of some non-Gaussian noise.UCB-ITS-PRR-97-31July 1997, 113 pp, $30.00

Models of Vehicular Collision:Development and Simulationwith Emphasis on Safety I: Devel-opment of a Model for a SingleVehicleOliver M. O’Reilly, PanayiotisPapadopoulos, Gwo-Jeng Lo, PeterC. VaradiThe development of a novel modelfor a single vehicle is outlined, us-ing the theory of a Cosserat point

to account for the deformable na-ture of the vehicle. The completeset of ordinary differential equa-tions governing the vehicle’s mo-tion are presented and numericalsimulations of the model undervarious operating conditions arediscussed.UCB-ITS-PRR-97-15*April 1997, 34 pp, $10.00

Models of Vehicular Collision: De-velopment and Simulation withEmphasis on Safety II: On theModeling of Collision betweenVehicles in a Platoon SystemOliver M. O’Reilly, PanayiotisPapadopoulos, Gwo-Jeng Lo, PeterC. VaradiPresents an algorithm for the de-tection of collision between twovehicles. Includes four examples ofvehicular impact scenarios in orderto illustrate the applicability of theproposed algorithm.UCB-ITS-PRR-97-34*August 1997, 29 pp, $10.00

Models of Vehicular Collision:Development and Simulationwith Emphasis on Safety III:Computer Code, Programmer’sGuide and User Manual for ME-DUSAOliver M. O’Reilly, PanayiotisPapadopoulos, Gwo-Jeng Lo, PeterC. VaradiThe program MEDUSA, which iscapable of simulating the impactsof several vehicles,assumes thatthe collisions are elastic, and isconsequently applicable for lowrelative velocity impacts.UCB-ITS-PRR-98-10*February 1998, 93 pp, $20.00

Safety Analysis of AutomatedHighway SystemsNancy G. LevesonFocuses on safety analysis tech-niques and tools as applied to Au-tomated Highway Systems (AHS).Discusses the basic features of Re-quirements State Machine Lan-guage (RSML) relevant to themodel. Concludes with a descrip-tion of safety analysis techniques,including forward and backwardsimulation, generation of faulttrees, and consistency and com-pleteness analysis.UCB-ITS-PRR-97-36October 1997, 164 pp, $25.00

Studies of Collisions in VehicleFollowing Operations by Two-di-mensional SimulationChing-Yao ChanWith vehicles moving closely to-gether in platoons, the hazards of“chain-reaction” collisions becomea concern. In this study, collisionanalysis is conducted with a two-dimensional simulation programby which the translational and ro-tational movements of vehicles canbe fully represented. This shouldprovide insights for the evaluationof the safety hazards and controlstrategies in AHS. Also presentedare simulation scenarios wherecontrol actions are taken in post-impact conditions.UCB-ITS-PRR-98-11*March 1998, 16 pp, $5.00

Vehicle Collision Model for Pla-toon Controller DevelopmentBenson H. Tongue, AndrewPackard, Douglas HarrimanDescription of a simple dynamicalmodel that can be used for deter-mining the physical interaction ofvehicles in a collision scenario. Asource of real world collision datais identified, and a procedure fordetermining model parameters tomatch the data is given. Modelimplementation issues are dis-cussed and the results of the com-pleted model are presented.UCB-ITS-PRR-97-22May 1997, 41 pp, $10.00

2.5 Modeling and Simulation

Design Framework for Hierarchi-cal, Hybrid ControlJohn Lygeros, Datta N. Godbole,Shankar SastryWe approach the problem of large-scale systems from a hierarchical,hybrid control viewpoint and ap-ply it to the automated vehicle fol-lowing problem. Our analysis isbased on a new hybrid dynamicalsystem formulation that allows usto model large scale systems in amodular fashion. A design proce-dure is proposed that naturallyleads to hierarchical, hybrid con-trol schemes, with continuous con-trollers trying to optimize eachagent’s resource utilization at alower level and discrete controllers

resolving inter-agent conflicts at ahigher level.UCB-ITS-PRR-97-24*May 1997, 40 pp, $10.00

Development of Vehicle Simula-tion CapabilityJames W. Stoner, Douglas F. Evans,Daniel McGeheeSummarizes work performed at theUniversity of Iowa to develop simu-lation databasing tools and proce-dures to support driving humanfactors experiments. A completedescription of the Iowa DrivingSimulation facility is provided. Thespecification and description of thevisual features of the ORCHIDS da-tabase illustrate the capabilitiesgenerated. Experimental designprocedures are outlined from ini-tial experiment descriptions andsimulation release specification,through database flythroughs andpilot testing.UCB-ITS-PRR-97-25*June 1997, 25 pp, $20.00

Intervehicle Spacing: User’sManualPetros Ioannou, Alexander Kanaris,Alex GrammagnatSoftware and documentation thatenable a user to perform the fol-lowing tasks regarding vehiclespacing: calculate the minimuminitial spacing between two ve-hicles, calculate the possibility andseverity of collision between twovehicles, visualize the motion ofthe two vehicles in the longitudi-nal direction during braking ma-neuvers, and calculate highwaycapacity given factors for velocity,spacing, and size of vehicles andplatoons.UCB-ITS-PWP-97-10*March 1997, 22 pp, $5.00

Object-Oriented Database forIVHSPravin VaraiyaWork done under this project re-sulted in the system calledSmartDB, implemented on top ofthe commercial object-orienteddatabase management system Ver-sant. SmartDB is documented inthe PhD thesis included as Appen-dix, and in several papers. Testingwith SmartDB revealed major limi-tations in Versant, which themanufacturer was unable to over-come. Further development of

30

SmartDB was stopped. Instead, theexperience gained with SmartDBwas used in the design of thehighly successful simulation lan-guage SHIFT.UCB-ITS-PWP-98-2January 1998, 42 pp, $10.00

SmartPath Regulation LayerImplementation: A User’s GuideJason Carbaugh, Luis Alvarez, Pin-Yen Chen, Roberto HorowitzDescribes implementation of regu-lation layer maneuvers for hierar-chical architecture on SmartPath,plus modifications or additions toexisting maneuvers. Includessample code for the join maneu-ver and some programming tools.UCB-ITS-PRR-97-48*November 1997, 74 pp, $15.00

2.6 System Operations (Net-work, Link, Coordination Layers)

Design and Evaluation of an Au-tomated Highway System withOptimized Lane AssignmentRandolph W. Hall, Cenk CaliskanExtends earlier research on optimallane assignment on an automatedhighway to dynamic networks. Apath-based linear program is for-mulated and solved through a 20column generation method. Thealgorithm has been applied to net-works with as many as 20 on andoff ramps, 80 segments, 4 lanesand 12 time periods.UCB-ITS-PRR-97-44*November 1997, 29 pp, $10.00

Safe Platooning in AutomatedHighway SystemsLuis Alvarez, Roberto HorowitzAddresses the problem of design-ing safe controllers for the hybridsystem comprising the interactionof the regulation and coordinationlayers in the hierarchical PATH AHSarchitecture. Results obtained al-low one to decouple the designand verification of the regulationand coordination layers, greatlyreducing the overall complexity ofthe design and verification of theAHS as a hybrid system.UCB-ITS-PRR-97-46*November 1997, 92 pp, $15.00

Traffic Flow Control in AutomatedHighway SystemsLuis Alvarez, Roberto HorowitzThe control laws proposed in thisreport stabilize vehicular densityand flow around predeterminedprofiles. The link layer controllerexhibits important properties forimplementation: it is distributed,in the sense that only local infor-mation is used, and it avoids high-way dynamics inversion. The linklayer control schemes were imple-mented and tested usingSmartPath-3 AHS simulation soft-ware. Simulation results were incomplete agreement with theo-retical predictions.UCB-ITS-PRR-97-47*November 1997, 42 pp, $10.00

2.7 Vehicle Aerodynamics

Aerodynamic Forces on Mis-aligned PlatoonsBogdan Marcu, Fred BrowandSummarizes wind tunnel experi-mental measurements on the aero-dynamic interaction betweenmembers of misaligned platoons,made using 1/8 scale models of aChevrolet Lumina minivan. Au-tomatization of the testing proce-dures allow measurements of drag,side force and yawing momentwith extremely fine position reso-lution. Results are presented in theform of color maps of the drag,side force, and yawing momentcoefficient ratios for each indi-vidual vehicle in the platoon.UCB-ITS-PRR-98-4*February 1998, 53 pp, $15.00

Drag Forces Experienced byTwo Full-Scale Vehicles at CloseSpacingPatrick Hong, Bogdan Marcu, FredBrowand, Aaron TuckerDocuments drag reduction for atwo-vehicle platoon of full-scaleFord Windstar vans in tandem ona desert lakebed. Drag forces aremeasured with the aid of a towbarforce measuring system designedand manufactured at USC. Resultsshow that drag behaviors for the

vans agree with earlier conclusionsdrawn from wind tunnel tests:both vans experience substantialdrag savings at spacings of a frac-tion of a car length.UCB-ITS-PRR-98-5*February 1998, 21 pp, $5.00

Influence of Close-FollowingUpon Cooling Module Air FlowFred Browand, Bogdan Marcu,Christian SharpeThe purpose of this report is to ex-perimentally determine the airflow through the cooling module(air-conditioning condenser plusengine radiator) of a Ford Windstarminivan when the van is operatedat a fraction of a vehicle lengthbehind a lead van. Substantial de-creases in air flow will result in adiminished operating envelope forthe vehicle in close-following.UCB-ITS-PRR-98-6*February 1998, 23 pp, $10.00

Transient Aerodynamics in Ve-hicle Interactions: Data BaseSummaryA.L. Chen, K. Hedrick, O. SavasInvestigates transient aerodynamicforces on automotive vehicles trav-eling in close proximity to eachother in a wind tunnel. Scale ve-hicle models are longitudinallyaligned in a platoon configurationwith various separation distancesbetween the models. The dragforce, side force, and yawing mo-ment are measured to quantify thetransient interactions of the vehicleflow fields.UCB-ITS-PWP-98-3February 1998, 146 pp, $10.00

Transient Vehicle Aerodynamicsin Four-Car PlatoonsA.L. Chen, Omer Savas, KarlHedrickWind tunnel measurements weremade of a 4-car platoon of scalevehicle models performing lanechange maneuvers. The dragforce, side force, and yawing mo-ment on each of the 4 vehicles wasmeasured for various configura-tions of the platoon.UCB-ITS-PRR-97-50*December 1997, 122 pp, $20.00

2.8 Enabling Technologies

Combined Approach to Stereop-sis and Lane-FindingJitendra Malik, Camillo J. Taylor,Joseph Weber, Dieter Koller,Quang-Tuan LuongProposes a new approach for vi-sion-based longitudinal and lateralvehicle control. The novel featureis the use of binocular vision. Weintegrate two modules consistingof a new, domain-specific, efficientbinocular stereo algorithm, and alane marker detection algorithm,and show that the integration re-sults in improved performance foreach of the modules.UCB-ITS-PRR-97-27July 1997, 40 pp, $20.00

Development of Binocular Stere-opsis for Vehicle Lateral Control,Longitudinal Control, and Ob-stacle DetectionJitendra Malik, Camillo J. Taylor,Philip McLauchlan, Jana KoseckaDescribes the progress we havemade in applying computer visiontechniques to the lateral and lon-gitudinal control of an autono-mous highway vehicle. We reportthe results from the experimentaldemonstration of the system aspart of the National AutomatedHighway Systems Consortium(NAHSC) Demonstration in August1997 in San Diego.UCB-ITS-PRR-97-41*November 1997, 26 pp, $10.00

Feasibility Study of Fully Auto-mated Vehicles Using Decision-Theoretic ControlJeffrey Forbes, Nikunj Oza, RonaldParr, Stuart RussellThis project investigated the feasi-bility of constructing an autono-mous vehicle controller based onprobabilistic inference and utilitymaximization. We have been suc-cessful in identifying the majortechnical issues to be resolved, andwe believe that the “high level”driving problem can be handledsatisfactorily, although much re-mains to be done in terms of real-time operation.UCB-ITS-PRR-97-18April 1997, 45 pp, $10.00

31

Field Test of Vehicle-Mounted,Forward Looking Range Sensorin Closed-Loop AVCSAlex Kanaris, Petros IoannouPresents the results of the testingon PATH vehicles and the evalua-tion of a low-cost, short-range ra-dar sensor developed by theAmerigon corporation. The radaris designed to be used as a rang-ing sensor for automatic vehiclefollowing applications, mounted inthe front of a vehicle to providemeasurements of the distance be-tween the front of the vehicle andthe rear of any vehicle or objectahead within a maximum distanceof 17 feet.UCB-ITS-PRR-98-14*March 1998, 85 pp, $20.00

FMCW MMW Radar for Automo-tive Longitudinal ControlWilliam DavidAddresses the fundamental capa-bilities and limitations of millime-ter wave (MMW) radar for rangingand contrasts its operation withthat of conventional microwaveradar. The report can serve as aprimer or tutorial for researcherswho are working in the field of au-tomotive control, and who mayapply radar for headway and lanecontrol studies during platooningoperations.UCB-ITS-PRR-97-19*May 1997, 25 pp, $10.00

2.9 Heavy Vehicles

Analysis, Design, and Evaluationof AVCS for Heavy-Duty Vehicleswith Actuator Delays: Final Re-port for MOU 240Diana Yanakiev, Jennifer Eyre,Ioannis KanellakopoulosDescribes a new generation of lon-gitudinal controllers for commer-cial heavy vehicles with and with-out intervehicle communication.These algorithms use nonlinearspacing policies, backsteppingcontrol design, and aggressive pre-diction schemes to deal with thepresence of significant delays andsaturations in the fuel and brakeactuators. Their superior perfor-mance removes several major ob-stacles to the implementation of

many different ITS scenarios tocommercial heavy vehicles (CHVs),ranging from adaptive cruise con-trol to fully automated operation.UCB-ITS-PRR-98-18*April 1998, 93 pp, $20.00

Lateral Control of Heavy DutyVehicles for Automated HighwaySystemsMeihua Tai, Jeng-Yu Wang,Pushkar Hingwe, Chieh Chen,Masayoshi TomizukaLinear analysis of a tractor semi-trailer model, followed by the de-sign of a simple linear controller forlane following. Off-tracking analy-sis is presented for a single unitvehicle and tractor semitrailer. Thisanalysis is independent of the con-trol design. Modeling of multi-unitarticulated vehicles is also pre-sented. Both a complex simulationmodel and a simplified control de-sign model are derived for a gen-eral road train.UCB-ITS-PRR-98-8February 1998, 93 pp, $15.00

Lateral Control of Single UnitHeavy VehiclesPushkar Hingwe, MasayoshiTomizukaPresents two H-infinity control-theory based lateral controllers.The control designs are a naturalcombination of input-output lin-earization technique and the H-in-finity control design techniques.UCB-ITS-PRR-97-43November 1997, 34 pp, $10.00

Longitudinal Control of HeavyDuty Vehicles: ExperimentalEvaluationDiana Yanakiev, Jennifer Eyre,Ioannis KanellakopoulosDescribes the results of the firstphase of this project, consisting of1) improved modeling of air brakesfor heavy trucks and buses, whichaccounts explicitly for bothnonlinearities and delays, and 2)novel nonlinear algorithms for lon-gitudinal control of commercialheavy vehicles without intervehiclecommunication. The significanceis that now we have removed oneof the major obstacles to autono-mous vehicle following for com-mercial heavy vehicles (CHVs).UCB-ITS-PRR-98-15*March 1998, 58 pp, $10.00

Modeling and Control of Articu-lated VehiclesChieh Chen, Masayoshi TomizukaA generalized coordinate system isintroduced to describe the kine-matics of a tractor-semitrailer ve-hicle, and equations of motion arederived. Experimental studies con-ducted to validate the effective-ness of this modeling approachand two nonlinear lateral controlalgorithms are described.UCB-ITS-PRR-97-42November 1997, 59 pp, $15.00

2.10 Deployment Studies

Automated Highway SystemField Operational Tests for theState of California: PotentialSites, Configurations and Char-acteristicsRandolph W. Hall, Viral Thakker,Thomas A. Horan, Jesse Glazer,Chris HoeneDescribes possible objectives for atest of automated vehicles on a realroadway, identifies potential testsites in California, and evaluatesthe merits of these sites for con-ducting different types of tests. Weconclude that there are many po-tential sites, the best in suburbanlocations where either an existingroadway has substantial surpluscapacity, or where there is alreadya desire to construct high occu-pancy specialized facilities focusedon transit or trucking.UCB-ITS-PRR-97-45*November 1997, 147 pp, $20.00

SYSTEMS

3.1 Policy and Planning

Case Study: Road Pricing inPracticeDavid LevinsonThe history of turnpikes, fromtheir first deployment in the 17thcentury through their decline inthe 19th century and some resto-ration in the 20th century, is ana-lyzed with a view to understand-ing the systematic causes of thesechanges. Key factors includelength of trips, size of governing

jurisdiction, and the transactionscosts of collection. Discusses whatwould be required for turnpikes tobecome the preferred financingmechanism for highways.UCB-ITS-PRR-97-38*November 1997, 32 pp, $10.00

Comparative Systems-Level Anal-ysis: Automated Freeways, HOVLanes, Transit, Land Use Intensi-fication, and Pricing PoliciesRobert A. Johnston, Caroline J.RodierTravel and emissions effects of free-way automation and travel de-mand management measureswere simulated with a regionaltravel demand model (SACMET95) for a twenty-year time horizonin the Sacramento region. Pricingpolicies reduced travel delay andemissions; freeway automation re-duced travel delay but increasedemissions.UCB-ITS-PRR-97-17April 1997, 115 pp, $25.00

Economic Analysis of NetworkDeployment and Application toRoad PricingDavid M. LevinsonDevelops an economic frameworkfor developing strategies necessaryto deploy networks, and appliesthe framework to the deploymentof road pricing. The deployment ofthree main elements relating toroad pricing are discussed: use ofelectronic toll collection on exist-ing toll roads, construction of newtoll roads, and conversion of exist-ing untolled roads to toll roads.UCB-ITS-PWP-98-1*January 1998, 46 pp, $15.00

Evaluation Framework for Com-mercial Vehicle Responses toCongestion PricingMartin Wachs, Kazuya KawamuraThis model can be used to assessthe short-run impacts of conges-tion pricing, as well as other formsof toll roads, on the welfare ofcommercial vehicle operators. Theessential information required arethe roadway and vehicle operatingcharacteristics, toll schedule, andthe cumulative distribution for thevalue of time. The marginal socialcost function with respect to traf-fic volume must be known to ana-lyze the overall impact on society.UCB-ITS-PWP-97-27*November 1997, 18 pp, $5.00

32

ISTEA/ITS Connection in Califor-nia: State of the Relationshipand Opportunities for Produc-tive and Beneficial LinkagesMark A. Miller, Wenyu JiaOur objective is to (1) investigatethe current state of California’simplementation of ISTEA with re-spect to ITS, (2) assess the extentto which ITS has been integratedwithin the State’s transportationplanning process, and (3) recom-mend opportunities for linkagesbetween ISTEA and ITS that havenot yet been recognized. This re-port contains results of a literaturereview of the ISTEA legislation andhow it has been implemented inCalifornia, a survey of transporta-tion professionals, and surveyanalysis findings .UCB-ITS-PRR-98-22*May 1998, 103 pp, $20.00

ITS Standards: A System Man-agement PerspectiveChris Intihar, Randolph HallFocuses on the role of standardiza-tion in managing and controllingthe transportation system. Reviewsactivities and processes used bystandards-setting organizations intransportation. As standardsevolve, transportation agencieswill attain greater flexibility in in-stalling systems and sharing infor-mation with each other. However,standardization has not addressedthe need to develop protocols andprocedures for standardizationlikely to address this need.UCB-ITS-PWP-97-29*December 1997, 30 pp, $10.00

Why ITS Projects Should beSmall, Local, and PrivateStein WeissenbergerImplementing Intelligent Trans-portation Systems (ITS) requiresacquiring new technical knowl-edge and developing new sup-porting institutions. Studies oftechnology development showthat such knowledge and institu-tions can only be achievedthrough intimate and idiosyncraticprocesses of learning by doing andusing. To produce and captureuseful knowledge, early ITSprojects should be local, small, andfocused on realistic goals. Privateindustry should be used whereverpossible, especially to performtasks for which it is best qualified;it should be looked upon as a

source of skills rather than as asource of funding.UCB-ITS-PRR-98-23*June 1998, 60 pp, $15.00

3.2 Benefits and ImpactsAssessments

Costs and Benefits of Telecom-muting: An Evaluation of Macro-Scale LiteratureKevan R. Shafizadeh, Debbie A.Niemeier, Patricia L. Mokhtarian,Ilan SalomonA conceptual framework is pro-posed to organize the inputs andoutputs of a macro-scale telecom-muting benefit-cost analysis. Fourfederal and regional reports arethen examined in terms of meth-odology, assumptions, economicapproach, and major findings.Common inputs are identified,and the critical assumptions thatroutinely affect results are dis-cussed. Finally, the economic ap-proaches and major findings arepresented and compared.UCB-ITS-PWP-98-5*February 1998, 52 pp, $15.00

Definition and Measurement ofTransportation System Perfor-manceJoy DahlgrenDiscusses the benefits and costs oftransportation and recommendsspecific measures to use as indica-tors of the benefits and costs, aswell as data sources and methodsof measurement. Considers therole of intelligent transportationsystems as both an object of mea-surement and a means of measure-mentUCB-ITS-PRR-98-24*June 1998, 60 pp, $15.00

Evaluating System ATMIS Tech-nologies via Rapid Estimation ofNetwork Flows: Final ReportJames E. Moore II, Geunyoung Kim,Seongdil Cho, Hsi-Hwa Hu, andRong XuIncorporates efficient transporta-tion modeling technology in seis-mic risk analysis procedures, forthe purpose of evaluating trans-portation network links, e. g.bridges, in terms of the systemcost of failure. Objectives are: todevelop an efficient transportationnetwork analysis (TNA) procedure

for many different traffic flowanalyses under numerous earth-quake scenarios, and to evaluatethe applicability of the procedureto a large-scale transportation net-work.UCB-ITS-PRR-97-54*December 1997, 497 pp, $50.00

Identification and Prioritizationof Environmentally Beneficial In-telligent Transportation Tech-nologies: Year Two Final ReportSusan Shaheen, Troy Young, DanielSperlingDocuments a project being con-ducted by the Institute of Trans-portation Studies at Davis and theClaremont Graduate School. Pro-vides an extensive review of the lit-erature on the energy and environ-mental impacts of IntelligentTransportation System technolo-gies, a presentation of the devel-opment of deployment/modelingscenarios, and a description of themodeling effort.UCB-ITS-PWP-98-8*March 1998, 295 pp, $35.00

Traffic Management SystemsPerformance Measurement: Fi-nal ReportJames H. Banks, Gregory KellyPossible actions that could betaken to improve performancemeasurement include research tocompare loop-detector-basedtravel time estimates with mea-sured travel times, development ofa quality control system for trafficinformation, development of atraffic system performance moni-toring system plan, research con-cerning the feasibility of relatingincident and accident data, furtherresearch on non-loop-based traveltime measures, extension of loopdetector coverage, and develop-ment of data reduction and displaysoftware for performance monitor-ing.UCB-ITS-PRR-97-53December 1997, 38 pp, $15.00

Traffic Management SystemsPerformance Measurement:Study Directions and Scope, Pro-posed Measures of Effectiveness,and Proposed Action PrioritiesJames H. Banks, Gregory KellyDocuments research to analyzeperformance measurement re-quirements for Caltrans Transpor-tation Management Centers

(TMCs), to identify and assess thefeasibility of data collection andmanagement activities required tosupport TMC performance mea-surement, and to recommend spe-cific actions by Caltrans and PATHthat will facilitate performancemeasurement.UCB-ITS-PRR-97-13*March 1997, 38 pp, $10.00

Traffic Management SystemsPerformance Measurement:Working Paper #2James H. Banks, Gregory KellyTraffic Data System ImprovementPlans were prepared for CaltransDistricts 11 (San Diego) and 12(Orange County). The plans evalu-ate existing systems, identify pos-sible improvements and resourcerequirements, and document thedistricts’ priorities for action. Al-though committed to providingsophisticated traffic data collectionand data management systems,the districts do not necessarilyhave a clear vision of how to usethe data to monitor performance,and lack the organizational struc-ture and staffing to carry out evalu-ation studies, performance moni-toring, and data quality control.UCB-ITS-PWP-97-28November 1997, 37 pp, $10.00

3.3 Communications

Conceptual Simulation Frame-work for Mobile Radio Commu-nications: A Flexilevel ApproachJohn A. SilvesterPresents a modeling/simulationframework for radio communica-tions networks in Advanced TrafficManagement and Information Sys-tems (ATMIS). Component modelsare introduced and their interfacesare discussed. A baseline modelthat is used to study the effect ofchannel models on system anduser performance is also intro-duced. Simulation results are re-ported.UCB-ITS-PRR-97-40November 1997, 28 pp, $10.00

Impacts of Computer-MediatedCommunication on Travel andCommunication Patterns: TheDavis Community NetworkStudyPrashant Narayan Balepur

33

It has been hypothesized thatelectonic forms of communicationmay replace some travel. However,the results of this study of a Com-puter-Mediated CommunicationNetwork, which provided elec-tronic mail and Internet access ca-pabilities to its users, show that thisis not the dominant effect.UCB-ITS-PWP-98-11*May 1998, 110 pp, $20.00,

Integrated Traffic and Commu-nications Modeling Environmentfor ATMISP. Varaiya, J. Walrand, F.F. Wu, A.Polydoros, J. SylvesterSection 1 presents a framework forestimating vehicle-roadside com-munications requirements, takingthe San Francisco East Bay regionas a case study, and determiningwhether existing wide-area wire-less technologies can be used tosupport those requirements.Section 2 describes enhancementsmade to the NetPlan planning toolfor designing wireline communica-tion networks. It has models ofLANs (eg., Ethernet) and WANs;standard communication proto-cols (eg., CSMA/CD, TCP/IP); andvarious simulation and networkoptimization tools.UCB-ITS-PWP-97-21July 1997, 26 pp, $10.00

3.4 Commercial Vehicle Opera-tions

Commercial Vehicle Operationsin Intermodal TransportationManagement CentersRandolph W. Hall, Chris IntiharMotor carriers are not opposed toIntelligent Transportation Systems(ITS), certainly not opposed tomoving toward a paperless sys-tem. They are willing and perhapseager to invest and participate inprojects that possess four basiccharacteristics:• Modest investment• No new taxes or user fees• Promote operating efficiency, customer service, or safety• Voluntary.The industry is much more inclinedto favor CHP-led efforts over thoseinitiated by Caltrans, the DMV, orother state agenicies.UCB-ITS-PRR-97-11March 1997, 35 pp, $10.00

Commercial Vehicle Operations:Government Interfaces and In-telligent Transportation SystemsRandolph W. Hall, Chris IntiharThis study concludes that atpresent, there exists no strongmarket push to better integratemotor carrier operations with gov-ernmental agencies in California.As companies adopt ITS technolo-gies for vehicle tracking and wire-less communication, they areclearly not pushing for electronictransfer of information to and fromgovernmental agencies. Likewise,none of the companies in the ve-hicle tracking industry has givenpriority to improving governmen-tal interfaces.UCB-ITS-PRR-97-12*March 1997, 36 pp, $10.00

3.5 Transportation Modeling

Comparison of Traffic Models:Part II ResultsHong K. Lo, Wei-Hua Lin, LawrenceC. Liao, Elbert Chang, Jacob TsaoSecond part of a series comparingdynamic traffic flow models. Docu-ments the results of comparisonbased on the framework defined inPart 1. The traffic models selectedfor comparison are DINOSAUR,DYNASMART, INTEGRATION, andMETS. The areas of comparisoncomprise four categories: function-ality, traffic dynamics, route choicemechanism, and network perfor-mance.UCB-ITS-PWP-97-15May 1997, 84 pp, $15.00

Data for Transportation Model-ing in the Santa Monica CorridorJoy DahlgrenAn assessment of the data availablefor a simulation testbed for testingalternate traffic management strat-egies in the Los Angeles SantaMonica Freeway Corridor (theSmart Corridor). Describes dataneeds, potential sources, and datapreparation required; presents awork plan and resource require-ments for acquiring the necessarydata. Appendix analyzes condi-tions under which a simulationtestbed is worthwhile.UCB-ITS-PWP-98-4*February 1998, 17 pp, $5.00

Improved Modeling Environ-ment for ATMISAlexander Skabardonis, EdwardLieberman, Paul MenakerDescribes enhancements to theWATSim model (an extension ofthe widely used TRAF-NETSIM mi-croscopic simulator) to simulatevehicles with route guidance/in-formation systems, and interfacewith dynamic traffic assignmentalgorithms. The extended modelcan generate origin-destinationand path matrices from observedturning movement counts, andprovides comprehensive statisti-cal, graphical and animation out-puts of the vehicle movements.When applied to the San FranciscoEmbarcadero network, resultsdemonstrated that it can be usedto evaluate the effectiveness ofATMIS strategies.UCB-ITS-PRR-97-33August 1997, 99 pp, $20.00

NETCELL Simulation Package:Technical DescriptionRandall Cayford, Wei-Hua Lin,Carlos F. DaganzoNETCELL is a freeway networksimulation program that capturesthe dynamic evolution of multi-commodity traffic over a freewaynetwork in a way that is consistentwith the hydrodynamic theory ofhighway traffic. This version incor-porates some enhancements tothe model and memory handlingimprovements to allow NETCELLto model very large networks.UCB-ITS-PRR-97-23*May 1997, 44 pp, $15.00

Queue Spillovers in Transporta-tion Networks with a RouteChoiceCarlos F. DaganzoExplores traffic phenomena occur-ring when vehicle queues back uppast intersections that provide twoalternative routes to the same des-tination. Findings suggest that thetime-dependent traffic assignmentproblem with physical queues ischaotic in nature and that (as inweather forecasting) it may be im-possible to obtain input datawhich is accurate enough to makereliable predictions of cumulativeoutput flows on severely con-gested networks.Tech Note 97-1*October 1997, 26 pp, $5.00

34

35

PUBLICATIONS NO. TITLE PRICE

UCB-ITS-

UCB-ITS-

UCB-ITS-

UCB-ITS-

PLEASE SHIP THE ITEMS LISTED BELOW TO:

NAME _____________________________________________________________________________

ADDRESS __________________________________________________________________________

___________________________________________________________________________________

___________________________________________________________________________________

PHONE ____________________________________________________________________________

California PATH Publications Order Form

Sales Tax—California residents 7.25%; residents of Alameda, Contra Costa, and Santa Clara counties 8.25%;residents of San Francisco and San Mateo counties, 8.5%.

Surface Mail—Orders are sent 4th-class book rate. Add $3 to publication price when ordering one item, $6for 2-4 items, $12 for 5-7 items, $20 for 8-10 items, $25 for 11-15 items, and $35 for more than 15 items. Pleaseallow two weeks for domestic delivery. For international delivery, please allow two to three months.

Air Mail—For faster international delivery, please specify Air Mail and add $10 for the first item and $5 for eachadditional item. Prepayment required in US funds. Please allow approximately 10 days for delivery.

Federal Express—Orders can be sent by Federal Express for customers who have a Federal Express number towhich we can charge the shipment. When requesting delivery by Federal Express, please enclose a Fed Ex shippingform to be used in sending your order.

If you need further information, please visit our Web Site (http://www.its.berkeley.edu/publications.html) orcall (510) 642-3558.

FAX

PREPAYMENT REQUIRED: PLEASE MAKE CHECK OR MONEY ORDER PAYABLE TO“REGENTS, UNIVERSITY OF CALIFORNIA”. SORRY, WE CANNOT ACCEPT CREDITCARD PAYMENT.

MAIL ORDERS TO: ITS SALES PUBLICATIONS109 MCLAUGHLIN HALLUNIVERSITY OF CALIFORNIABERKELEY, CA 94720

FAX: 510-642-1246

SUBTOTAL

SURFACE MAIL

AIRMAIL

TOTAL

SALES TAX(CA RESIDENTS ONLY)

36

37

PATH Database

The California PATH Database provides access to the largest and most comprehen-sive collection of bibliographic information on Intelligent Transportation Systems(ITS). The Database is now accessible on the Internet through a partnership betweenthe California PATH Program and the Transportation Research Board.

The Database, created in 1989, is sponsored by Caltrans and the Federal HighwayAdministration. It is maintained by the Harmer E. Davis Transportation Library (HEDTL)at the Institute of Transportation Studies, University of California at Berkeley. Theweb site is administered by the Transportation Research Board and is updatedmonthly.

Scope and CoverageThe Database contains references to all aspects of Intelligent Transportation Systems,ranging from historical materials dating back to the 1940s to topics of current andinternational research and applications. It reflects a wide coverage of information onITS, including monographs, journal articles, conference papers, technical reports,theses, web sites, and selected media coverage. Currently, there are over 16,000records with abstracts contained in the Database. Full bibliographic information isprovided, and URLs are included for documents that are available in electronic for-mat. The majority of the indexed items are held at the Harmer E. Davis Library.

Access and AvailabilityTo access the California PATH Bibliographic Database, go to:http://www.nas.edu/trb/about/path1.html

To access the Harmer E. Davis Library web site, go to:http://www.lib.berkeley.edu/ITSL

The “New Acquisitions in Intelligent Transportation at the Harmer E. Davis Transpor-tation Library” list is a compilation of records that have been added to the Databasein the previous month. To access the New Acquisitions list, go to:http://library.berkeley.edu/ITSL/newbooks.html

For information regarding the availability of documents held at other University ofCalifornia at Berkeley libraries, go to:http://www.lib.berkeley.edu/ILS/nonuc.html

Loans and photocopies of materials are available to persons affiliated with the Uni-versity of California and California PATH sponsors. For others, information on inter-library loans or photocopies may be obtained at the HEDTL web site. Questionsregarding the Database may be directed to:Seyem Petrites, PATH Database Manager at:spetrite@library.berkeley.eduMichael Kleiber, PATH Database Librarian at:mkleiber@library.berkeley.edu

38

39

Captions and Credits

Full-page photos:

p 2—An eight-car platoon of PATH-automated Buick LeSabres on the express lanes ofInterstate 15 in San Diego, California, during the NAHSC Technical Feasibility Demon-stration (Demo ’97).Photo: Bill Stone, PATH

p 4—Interstate 5 just south of Balboa Park in San Diego. Astronomical cost of buildingnew freeway lanes is major impetus for PATH research efforts.Photo: Gerald Stone, PATH

p 6—Congestion on Interstate 80 along San Francisco Bay at University Avenue, Berkeley,California. PATH research aims at making more efficient use of existing highways.Photo: Gerald Stone, PATH

p 11—Double-trap inductive loop detectors on Interstate 580 just south of PATH head-quarters. PATH researchers are using loop detectors to measure vehicle travel time.Photo: Bill Stone, PATH

p 12—The El Toro Y, junction of Interstate 5 and Interstate 405, part of the PATH Ad-vanced Transportation Management Information Systems (ATMIS) Testbed at UC Irvine.Photo: Gerald Stone, PATH

p 22—Video, radio, and print media interview PATH researchers Han-Shue Tan andBénédicte Bougler at Demo ’98 in Rijnwoude, the Netherlands.Photo: Jay Sullivan, PATH

p 24—FasTrak Electronic Toll Collection lane on Carquiñez bridge over Sacramento Riveron Interstate 80. PATH has done benefit-cost analysis of FasTrak for Caltrans.Photo: Gerald Stone, PATH

p 34—Caltrans work crew installing magnetic markers in Interstate 80 over DonnerSummit, for Advanced Snowplow Program.Photo: Gerald Stone, PATH

p 36—Surveillance trailer on Interstate 5 in Anaheim, California, part of PATH-evaluatedOrange County Mobile Surveillance Field Operational Test.Photo: Lawrence Emerson, Caltrans

p 38—Advanced Snowplow guided by PATH magnetic guidance system leads conven-tional snowplow in clearing Interstate 80 over Donner Pass, which in most winters getsmore snowfall than any other road in the Lower 48 states.Photo: Aaron Steinfeld, PATH

p 40—PATH engineers Han-Shue Tan and Bénédicte Bougler test-drive Advanced Snow-plow. Magnetic guidance screen in left center shows operator plow’s position relative topath of magnetic markers embedded in roadway.Photo: Gerald Stone, PATH

Other photographs by Gerald Stone and by:

Don Tateishi, Caltrans (p 7–Sen. Barbara Boxer and James van Loben Sels at Demo ‘97)Jay Sullivan, PATH (pp 8-9–Demo ‘98; p 10–Mobile Offshore Base graphic; p 16–bird’s-eye view of Buick test car simulating automated bus docking–photo and graphic)Delnaz Khorramabadi, PATH (p 10–SmartPATH graphic)Carlos Sun, PATH (p 14–ground-truthing video)Bret Michael, Naval Postgraduate School (p 17–bus at shelter)

Publication design by Esther Kerkmann

California PATH

Administrative Headquarters

University of California, Berkeley

Institute of Transportation Studies

Richmond Field Station, Building 452

1357 S. 46th Street

Richmond, CA 94804-4603

tel. 510/231-9495

fax 510/231-9565

http://www.path.berkeley.edu