The problem of designing longitudinal control systems for automated highway vehicles powered by internal combustion engines is examined. Careful controller design is required so that the movement of freight and people may be achieved in the same roadway while maintaining stringent safety and operational standards. Individual vehicle control is achieved utilizing a modified proportional-error controller with switching boundaries. Longitudinal control of vehicle strings is based upon the model reference control concept. Analytical and computer simulation results indicate it is feasible to operate mixed vehicle strings.

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