@article{ref1,
title="Smart cars on smart roads: problems of control",
journal="IEEE transactions on automatic control",
year="1993",
author="Varaiya, P.",
volume="38",
number="2",
pages="195-207",
abstract="Key features of one automated intelligent vehicle/highway system (IVHS) are outlined, it is shown how core driver decisions are improved, a basic IVHS control system architecture is proposed, and a design of some control subsystems is offered. Some experimental work is summarized. A system that promises a threefold increase in capacity is outlined, and a four-layer hierarchical control architecture that decomposes this problem into more manageable units is proposed<p />",
language="",
issn="0018-9286",
doi="10.1109/9.250509",
url="http://dx.doi.org/10.1109/9.250509"
}