TY  - JOUR
PY  - 1993//
TI  - Smart cars on smart roads: problems of control
JO  - IEEE transactions on automatic control
A1  - Varaiya, P.
SP  - 195
EP  - 207
VL  - 38
IS  - 2
N2  - 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 /> 
LA  - 
SN  - 0018-9286
UR  - http://dx.doi.org/10.1109/9.250509
ID  - ref1
ER  -