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This paper describes a headway distance control system for platoon driving on an automated highway system (AHS). The system implemented on a test vehicle is described first, followed by a description of a vehicle control method based on the use of throttle and brake actuators. This method makes it possible to obtain the target acceleration and deceleration regardless of the vehicle speed range and the rate of acceleration or deceleration. Experimental and simulation results obtained with this method are presented. A control method is then described that uses inter-vehicle communication and laser radar to maintain a constant headway between vehicles. The results of simulations and driving tests conducted with three vehicles are presented to illustrate that the use of inter-vehicle communication is highly effective in improving headway control performance.

Various driver assistance systems have been developed for maintaining a vehicle in its lane. For example, systems that apply force to the steering gear to help the driver keep the vehicle in the center of its lane are becoming popular. On the other hand, direct yaw-moment control systems have been developed for use in stabilizing the vehicle in extremer conditions where loss of control is detected. This paper deals with a system for aiding drivers in recovering from lane departure and maintaining the vehicle in its lane by utilizing direct yaw-moment control. The system uses a CCD camera to recognize lane makers and detects lane departures based on the positional relationship between the vehicle and the lane. When a lane departure is detected, the system applies force to the wheels to generate a yaw moment in the vehicle, so that it turns towards the original lane.