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We propose a hierarchical control architecture for dealing with faults and adverse environmental conditions on an Automated Highway System (AHS). Our design builds on a previously designed control architecture that works under normal conditions of operation. The faults that are considered in our design are classified according to capabilities remaining on the vehicle or roadside after the fault has occurred. Information about these capabilities is used by supervisors in each of the layers to select appropriate control strategies. We outline the extended control strategies that are needed by these supervisors of each layer of the hierarchy and, in certain cases, give examples of their detailed operation. A companion paper develops and verifies protocols for extended coordination layer strategies and maneuvers.

Detailed model of the longitudinal dynamics of a typical automobile is developed. A nonlinear controller is designed for speed control of the automobile. Integrated System's CACSD tool SystemBuild is used to simulate and test the controller. A complete automotive control design package is developed using SystemBuild and Xmath.1 The modular design can work as a software/simulation test platform for new designs of various subsystems of the automotive powertrain.