This paper considers longitudinal control of automated vehicle merging in a mathematical approach for automated highway systems. Merging manoeuvre is defined as one vehicle in the merging lane to be inserted in the middle between two vehicles in the main lane at fixed merging point which is the intersection of those two lanes. The main lane vehicles can change speed. To achieve this, the merging vehicle must properly adjust its speed and acceleration such that it reaches the merging point at the right time with the same speed and acceleration as the main lane vehicles. This problem is a little similar to but different from the well-known missile interception problem. The longitudinal control problem is proposed for different road layouts, based on which a unified mathematical model is established. Then a new concept, virtual platooning, is introduced, which effectively avoids a two-point boundary value problem . Based on this concept, an analytic solution with mathematical proof is provided. It is also discretized as a recursive algorithm for real-time use. A dynamic real-time simulation is published at PATH website. This algorithm has been successfully implemented with automated cars.
Longitudinal control algorithm for automated vehicle merging
Reprints and Corporate Permissions
Please note: Selecting permissions does not provide access to the full text of the article, please see our help page How do I view content?
To request a reprint or corporate permissions for this article, please click on the relevant link below:
Academic Permissions
Please note: Selecting permissions does not provide access to the full text of the article, please see our help page How do I view content?
Obtain permissions instantly via Rightslink by clicking on the button below:
If you are unable to obtain permissions via Rightslink, please complete and submit this Permissions form. For more information, please visit our Permissions help page.
Related Research Data
Related research
People also read lists articles that other readers of this article have read.
Recommended articles lists articles that we recommend and is powered by our AI driven recommendation engine.
Cited by lists all citing articles based on Crossref citations.
Articles with the Crossref icon will open in a new tab.