Cooperative vehicle path generation during merging using model predictive control with real-time optimization

Wenjing Cao, Masakazu Mukai, Taketoshi Kawabe, Hikaru Nishira, Noriaki Fujiki

Research output: Contribution to journalArticle

32 Citations (Scopus)


This paper proposed a cooperative merging path generation method for vehicles to merge smoothly on the motorway using a Model Predictive Control (MPC) scheme which optimizes the motions of the relevant vehicles simultaneously. The cooperative merging is a merging in where the most relevant vehicle in the main lane would accelerate or decelerate slightly to let the merging vehicle merge in easily. The proposed path generation algorithm can generate the merging path ensuring the merging vehicle can access the whole acceleration area, and do not exceed it. We have introduced a state variable to the optimization problem by which the merging point for the merging vehicle is optimized. The simulation results showed that the cooperative merging path can be successfully generated under some typical traffic situations without re-adjustment of the optimization parameters.

Original languageEnglish
Pages (from-to)98-105
Number of pages8
JournalControl Engineering Practice
Publication statusPublished - Jan 1 2015


All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering
  • Applied Mathematics

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