Real-time generation of cooperative merging trajectory on the motor way using model predictive control scheme

Masakazu Mukai, Taketoshi Kawabe

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

2 Citations (Scopus)

Abstract

This paper is a tutorial for a path generation method during merging maneuver of automobile using a model predictive control scheme. Lanes of a motor way are approximated with proposed smooth lines. Assuming that the main lane vehicles run on the centerline of the main lane, an appropriate path of the merging vehicle can be simply designed and modified according to the motion of the main lane vehicles. A computer simulation of the merging maneuver of one merging vehicle and two main lane vehicles using actual merging data is conducted.

Original languageEnglish
Title of host publication2015 European Control Conference, ECC 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages117-122
Number of pages6
ISBN (Electronic)9783952426937
DOIs
Publication statusPublished - Nov 16 2015
EventEuropean Control Conference, ECC 2015 - Linz, Austria
Duration: Jul 15 2015Jul 17 2015

Publication series

Name2015 European Control Conference, ECC 2015

Other

OtherEuropean Control Conference, ECC 2015
CountryAustria
CityLinz
Period7/15/157/17/15

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All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

Cite this

Mukai, M., & Kawabe, T. (2015). Real-time generation of cooperative merging trajectory on the motor way using model predictive control scheme. In 2015 European Control Conference, ECC 2015 (pp. 117-122). [7330532] (2015 European Control Conference, ECC 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ECC.2015.7330532