Control Concepts for Facilitating Motorway On-ramp Merging Using Intelligent Vehicles

Figures & data

Figure 1. Graphical representation of the components involved in the merging process of controlled intelligent vehicles.

Table 1. Characteristics of merging control strategies

		Yang, Milacic, and Kurami (1993)	Kachroo and Li (1997)	Antoniotti, Desphande, and Girault (1997)	Uno, Sakaguchi, and Tsugawa (1999)	Ran, Leight, and Chang (1999)	Hall and Li (2001)	Kato, Tsugawa, Tokuda, Matsui, and Fujii (2002)	Xu and Sengupta (2003)	Lu, Tan, Shladover, and Hedrick (2004)	van Arem et al. (2006)	Wang, Kulik, and Ramamohanarao (2007)	Davis (2007)	Kanavalli et al. (2008)	Pueboobpaphan, Liu, and van Arem (2010)	Park, Bhamidipati, and Smith (2011)	Daamen, van Arem, and Bouma (2011)	Milanes, Godoy, Villagra, and Perez (2011)	Marinescu, Curn, Bouroche, and Cahill (2012)	Scarinci et al. (2013a,b)	Wang et al. (2013)	Awal, Kulik, and Ramamohanrao (2013b)	Sivaraman, Trivedi, Tippelhofer, and Shannon (2013)	Wei, Dolan, and Litkouhi (2013)
Control over	Main carriage			•	•	•	•	•	•	•	•		•		•	•	•	•	•	•	•	•
	On-ramp	•	•	•		•	•	•	•	•	•	•	•	•				•	•	•	•	•	•	•
Control direction on main carriage.	Longitudinal	•	•	•	•	•	•	•	•	•	•	•	•	•	•		•	•	•	•	•	•	•	•
	Lateral															•			•
Controlled vehicle group type	Individual veh.	•	•	•	•						•	•	•		•	•	•						•	•
	String of veh.					•				•
	Group of veh.						•	•	•					•				•	•	•	•	•
Merging type	Single veh.	•	•	•	•	•	•	•	•	•	•	•	•	•	•	•	•	•	•		•	•	•	•
	Platoon				•		•			•										•	•	•
Algorithm type	Centralised	•	•	•		•	•			•						•	•	•	•	•
	Decentralised				•			•	•		•	•	•	•	•						•	•	•	•
Monitor over	Main carriage	•	•	•	•	•	•	•	•	•	•	•	•	•	•	•	•	•	•	•	•	•	•	•
	On-ramp			•	•	•	•	•	•	•	•	•	•	•	•	•	•	•	•		•	•	•	•
Traffic type	Mixed								•		•		•		•								•	•
	100% intel. veh.	•	•	•	•	•	•	•		•		•		•		•	•	•	•	•	•	•
Intelligent vehicle type	Completely auto.	•	•	•		•	•	•		•									•					•
	CACC				•				•		•	•	•	•	•			•			•	•
	On-board display															•	•			•			•
Evaluation method	Microscopic sim.	•	•	•	•	•	•		•		•	•	•	•	•	•	•		•	•	•	•		•
	Test track							•		•								•					•

Table 2. Evaluation methods for merging control strategies

Author	Simulation software	Calibration data	No. of runs	Evaluated indexes
Yang et al. (1993)	Not stated	Not stated	Not stated	Gap and speed profiles
Kachroo and Li (1997)	MATLAB (MathWorks, 2013)	Not stated	Not stated	Gap and speed profiles
Antoniotti et al. (1997)	Smart-AHS (Antoniotti & Gll, 1997)	USA	Not stated	Gap and speed profiles, queue
Uno et al. (1999)	Not stated	Not stated	Not stated	Speed profiles
Ran et al. (1999)	CORSIM (Halati, Lieu, & Walker, 1997)	USA	Not stated	Average main carriageway and merging speed
Hall and Li (2001)	Not stated	USA	10	Average waiting time in merging queue, average merging queue length
Kato et al. (2002)	(test track)
Xu and Sengupta (2003)	MATLAB (MathWorks, 2013)	USA	Not stated	Speed and acceleration profiles, average speed and maximum braking
Lu et al. (2004)	(test track)
van Arem et al. (2006)	MIXIC (van Arem, Vos, & Vanderschuren, 1997)	Dutch	5	Number of shock waves, average speed and throughput
Wang et al. (2007)	IDM (Treiber, Hennecke, & Helbing, 2000)	Not stated	Not stated	Delay, throughput and flow
Davis (2007)	Not stated	Not stated	Not stated	Speed profiles and throughput
Kanavalli et al. (2008)	IDM (Treiber et al., 2000)	Not stated	Not stated	Delay, throughput and flow
Pueboobpaphan et al. (2010)	MATLAB (MathWorks, 2013)	Not stated	Not stated	Vehicle kilometre travelled, average travel time and number of collisions
Park et al. (2011)	VISSIM (PTV, 2013)	USA	30	Vehicle miles travelled, vehicle hours travelled, average speed and pollution
Daamen et al. (2011)	FOSIM (VW, 2014)	Dutch	17	Congestion duration, total travel time lost, number and length of shock waves
Milanes et al. (2011)	(test track)
Marinescu et al. (2012)	VISSIM (PTV, 2013)	Not stated	Not stated	Throughput and total delay
Scarinci et al. (2013a, 2013b)	VISSIM (PTV, 2013)	Not stated	30	Occurrence of congestion, late merging vehicles and time spent in congestion
Wang et al. (2013)	Simulink, MATLAB (MathWorks, 2013)	Not stated	Not stated	Speed profiles
Awal et al. (2013b)	kFTM (Awal, Kulik & Ramamohanrao, 2013a)	Not stated	Not stated	Merging time, waiting time, energy consumption, flow and average speed
Sivaraman et al. (2013)	(test track)
Wei et al. (2013)	Not stated	Not stated	10 000	Costs associated with desired distance, accelerations, breaking distance and fuel consumption

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