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

研究成果: 著書/レポートタイプへの貢献会議での発言

7 引用 (Scopus)

抜粋

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.

元の言語英語
ホスト出版物のタイトル2014 IEEE Conference on Control Applications, CCA 2014
出版者Institute of Electrical and Electronics Engineers Inc.
ページ2127-2134
ページ数8
ISBN(電子版)9781479974092
DOI
出版物ステータス出版済み - 12 9 2014
イベント2014 IEEE Conference on Control Applications, CCA 2014 - Juan Les Antibes, フランス
継続期間: 10 8 201410 10 2014

出版物シリーズ

名前2014 IEEE Conference on Control Applications, CCA 2014

その他

その他2014 IEEE Conference on Control Applications, CCA 2014
フランス
Juan Les Antibes
期間10/8/1410/10/14

    フィンガープリント

All Science Journal Classification (ASJC) codes

  • Computer Science Applications
  • Control and Systems Engineering

これを引用

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. : 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