The DOI matches its Crossref record.
Demonstration of integrated longitudinal and lateral control for the operation of automated vehicles in platoons
Abstract
This paper presents the design and experimental implementation of an integrated longitudinal and lateral control system for the operation of automated vehicles in platoons. The design of the longitudinal control system include nonlinear vehicle dynamics, string-stable operation with very small inter-vehicle spacing, operation at all speeds from a complete stop to high-speed cruising, and the execution of longitudinal split and join maneuvers in the presence of communication constraints. The design of the lateral control system include high-speed operation using a purely "look down" sensor system and lane changing without transitional lateral position measurements. We also describes the design of an on-board supervisor that utilizes inter-vehicle communication and coordinates the operation of the lateral and longitudinal controllers in order to execute entry and exit maneuvers. Experimental results are included from the NAHSC demonstration of automated highways at San Diego, CA.
Overview
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Integrity signals
Registry
Cites
Statistics
Verification
Claims the paper makes
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Self-check
Percentages, sums and reported differences re-computed from the paper’s own numbers.
The self-check needs the paper’s full text.
Citations
Cites
No references could be resolved yet.
Research works printed but not linked: 13
- 10.1109/9.486636 · DOI · Paper page
- 10.1080/00423119408969077 · DOI · Paper page
- 10.1016/S0967-0661(00)00026-5 · doi:10.1016/s0967-0661(00)00026-5
- tomizuka, 1993, automated vehicle control for ivhs systems, Proc IFAC Conf, 10.1016/S1474-6670(17)48693-9 · doi:10.1016/s1474-6670(17)48693-9
- zhang, 1990, an intelligent roadway reference system for vehicle lateral guidance/control, 1990 American Control Conference ACC, 281, 10.23919/ACC.1990.4790741 · DOI
- hedrick, 1991, longitudinal vehicle controller design for ivhs systems, 1991 American Control Conference ACC, 3107, 10.23919/ACC.1991.4791980 · doi:10.23919/acc.1991.4791980
- 10.1080/00423119608969311 · doi:10.1080/00423119608969311
- patwardhan, 1992, robust failure detection in lateral control for ivhs, 1992 American Control Conference ACC, 1768, 10.23919/ACC.1992.4792414 · doi:10.23919/acc.1992.4792414
- hedrick, 1993, Vehicle modeling and control for automated highway systems
- 10.1109/ACC.1999.783618 · DOI
- 10.1109/87.930966 · doi:10.1109/87.930966
- choi, 1995, vehicle longitudinal control using an adaptive observer for automated highway systems, Proc Amer Contr Conf
- slotine, 1991, Applied nonlinear control
Cited by
Research advances in intelligent collision avoidance and adaptive cruise control
Vahidi, A., & Eskandarian, A. (2003) · IEEE Transactions on Intelligent Transportation Systems · doi:10.1109/tits.2003.821292 · Cited by 836
Fernandes, P., & Nunes, U. (2012) · IEEE Transactions on Intelligent Transportation Systems · doi:10.1109/tits.2011.2179936 · Cited by 330
A Survey on Cooperative Longitudinal Motion Control of Multiple Connected and Automated Vehicles
Wang, Z., Bian, Y., Shladover, S. E., Wu, G., Li, S. E., & Barth, M. J. (2020) · IEEE Intelligent Transportation Systems Magazine · doi:10.1109/mits.2019.2953562 · Cited by 316
Traffic capacity implications of automated vehicles mixed with regular vehicles
Olia, A., Razavi, S., Abdulhai, B., & Abdelgawad, H. (2018) · Journal of Intelligent Transportation Systems · doi:10.1080/15472450.2017.1404680 · Cited by 199
Automated driving and autonomous functions on road vehicles
Gordon, T. J., & Lidberg, M. (2015) · Vehicle System Dynamics · doi:10.1080/00423114.2015.1037774 · Cited by 120
Metadata
- Authors
- Rajamani, R., Tan, H.-S., Law, B. K., & Zhang, W.-B.
- Venue
- IEEE Transactions on Control Systems Technology
- Published
- 2000-07
- Volume
- 8
- Issue
- 4
- Pages
- 695-708
- ISSN
- 1063-6536 (ISSN-L)
- OpenAlex
- W2169683785
- Cited by
- 581
- References
- 0
- FWCI
- 20.28
- Type
- journal article
- Language
- en
- Open access
- closed
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
What counts as a claim ›How we measure confidence ›How we check this ›
Are you an author, or do you see a problem with this page? Request a review
How to cite
Cite CoChat for the checks on this page, and the paper for its own findings.
- This page
- CoChat. (2026). Citation check: Demonstration of integrated longitudinal and lateral control for the operation of automated vehicles in platoons. https://app.cochat.ai/papers/10.1109/87.852914
- The paper
- Rajamani, R., Tan, H.-S., Law, B. K., & Zhang, W.-B. (2000). Demonstration of integrated longitudinal and lateral control for the operation of automated vehicles in platoons. IEEE Transactions on Control Systems Technology. https://doi.org/10.1109/87.852914
Data sources
Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
