Merging is a challenging task for automated vehicles. This paper proposes a strategy for connected automated vehicles (CAVs) to guide merging on-ramp vehicles efficiently while ensuring safe interactions with the mainline vehicles. Point-mass kinematic models are used to describe 2-D vehicle motion and receding horizon control is used to generate optimal trajectories of interacting vehicles. The strategy determines the optimal merging time instant for merging vehicles and acceleration of all involved vehicles to minimize deviation from the preceding vehicles' speed, deviation from preferred inter-vehicle gaps, accelerations, and the time spent merging. The strategy builds on a pre-determined order of vehicles passing the conflict zone but is not restricted to fixed merging points as previous research assumes. It resembles human-like behavior in the sense that on-ramp vehicles will accept smaller gaps when approaching the end of the acceleration lane. The performance of the strategy is demonstrated in simulations.

Original languageEnglish
Title of host publicationCICTP 2018
Subtitle of host publicationIntelligence, Connectivity, and Mobility - Proceedings of the 18th COTA International Conference of Transportation Professionals
PublisherAmerican Society of Civil Engineers (ASCE)
Pages46-55
Number of pages10
ISBN (Electronic)9780784481523
DOIs
Publication statusPublished - 1 Jan 2018
Event18th COTA International Conference of Transportation Professionals: Intelligence, Connectivity, and Mobility - Beijing, China
Duration: 5 Jul 20188 Jul 2018
Conference number: 18

Conference

Conference18th COTA International Conference of Transportation Professionals: Intelligence, Connectivity, and Mobility
Abbreviated titleCICTP 2018
CountryChina
CityBeijing
Period5/07/188/07/18

ID: 46698919