TY - GEN
T1 - Real-time generation of cooperative merging trajectory on the motor way using model predictive control scheme
AU - Mukai, Masakazu
AU - Kawabe, Taketoshi
PY - 2015/11/16
Y1 - 2015/11/16
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84963865398&partnerID=8YFLogxK
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U2 - 10.1109/ECC.2015.7330532
DO - 10.1109/ECC.2015.7330532
M3 - Conference contribution
AN - SCOPUS:84963865398
T3 - 2015 European Control Conference, ECC 2015
SP - 117
EP - 122
BT - 2015 European Control Conference, ECC 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - European Control Conference, ECC 2015
Y2 - 15 July 2015 through 17 July 2015
ER -