Merging trajectory generation for vehicle on a motor way using receding horizon control framework consideration of its applications

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

This paper describes a selection of a merging point and a trajectory generation method for a merging maneuver of vehicles on a motor way which is possible to be used in a centralized merging control system as well as in a stand-alone merging control system. The merging problem is formulated into an optimization problem using receding horizon control framework. An appropriate path to merge is designed for the merging vehicle, which is modified according to the motion of the main lane vehicles. Appropriate constraints are set for the vehicles so that the vehicle can move smoothly in the specified range. The possibility of the method to be used in a centralized motion control system for vehicles during merging and a standalone motion control system for the merging vehicle is examined by computer simulation.

Original languageEnglish
Title of host publication2014 IEEE Conference on Control Applications, CCA 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2127-2134
Number of pages8
ISBN (Electronic)9781479974092
DOIs
Publication statusPublished - Dec 9 2014
Event2014 IEEE Conference on Control Applications, CCA 2014 - Juan Les Antibes, France
Duration: Oct 8 2014Oct 10 2014

Publication series

Name2014 IEEE Conference on Control Applications, CCA 2014

Other

Other2014 IEEE Conference on Control Applications, CCA 2014
CountryFrance
CityJuan Les Antibes
Period10/8/1410/10/14

All Science Journal Classification (ASJC) codes

  • Computer Science Applications
  • Control and Systems Engineering

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    Cao, W., Muka, M., Kawabe, T., Nishira, H., & Fujiki, N. (2014). Merging trajectory generation for vehicle on a motor way using receding horizon control framework consideration of its applications. In 2014 IEEE Conference on Control Applications, CCA 2014 (pp. 2127-2134). [6981617] (2014 IEEE Conference on Control Applications, CCA 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCA.2014.6981617