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: This paper has proposed a gap selection and path generation method during merging maneuver of automobile. In this method the merging problem of one merging vehicle and multiple main lane vehicles is formulated using a model predictive control method. 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 motions of the main lane vehicles. To generate mild merging, accelerations of all the relevant vehicles are constrained. Effectiveness of the proposed method is validated by computer simulations of the merging maneuvers of one merging vehicle and two main lane vehicles in different conditions. An example of actual cooperative merging maneuver is generated by the proposed method. Further the collision avoidance ability and the initial condition dependent property of the proposed method are tested.

To ensure safety and simplicity in merging path generation for a realistic reliable and mild merging, this paper proposes a merging path generation method. In the proposed method, the merging problem is considered in two-dimensional space and formulated into a one-dimensional space optimization problem by relating the longitudinal motion of the merging vehicle to the lateral motion of it. In this way the optimization problem would be much simpler and therefore the computational time could be shorter than formulating it into a two-dimensional problem. Moreover, the parameters are chosen appropriately so that the variation of the acceleration of the main lane vehicle is less severe than that of the merging vehicle, which is consistent with the practice. To realize mild merging, the merging path is optimized while the accelerations of the relevant vehicles are optimized through the model predictive control (MPC) method. With the proposed method, the merging vehicle can merge smoothly and realistically in cooperative with the main lane vehicle. The effectiveness of this method is verified by a computer simulation of the motions of one merging vehicle and one main lane vehicle. The initial conditions of the merging are set realistically according to the data drawn from actual merging scenes. The results proved that, with the proposed method the merging vehicle can merge mildly in cooperation with the main lane vehicle.

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