A merging control algorithm based on inter-vehicle communication

Uno, Atsuya; Sakaguchi, Toshifumi; Tsugawa, Sadayuki

doi:10.1109/itsc.1999.821160

Cited by 116 publications

(69 citation statements)

References 2 publications

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“…Although not explicitly stated by the authors, the work of Uno et al (1999) can be classified as one of the first research in the field of CACC for facilitating the merging process. Uno et al proposed an algorithm based on the concept of 'virtual vehicle'.…”

Section: Vehicles Equipped With Caccmentioning

confidence: 99%

“…The few algorithms evaluating on-ramp platoon merging make the simple assumption that a platoon behaves like a single vehicle that has the length from the front of the first vehicle to the rear of the last vehicle in the platoon (Hall & Li, 2001;Lu et al, 2004;Scarinci et al, 2013a;Uno et al, 1999). This assumption is simplistic because a platoon of vehicles could have different dynamics requiring a smaller gap than the sum of gaps required by individual vehicles.…”

Section: Merging Typementioning

confidence: 99%

“…of runs Evaluated indexes 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 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 ( 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…”

Section: Authormentioning

confidence: 99%

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

Scarinci

Heydecker

2014

Transport Reviews

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Congestion at motorway junctions is a traffic phenomenon that degrades operation of infrastructure and can lead to breakdown of traffic flow and associated reduction in capacity.Advanced communication technologies open new possibilities to prevent or at least delay this phenomenon, and innovative active traffic management systems have been developed in the recent years for better control of motorway traffic. This paper presents a review of control strategies for facilitating motorway on-ramp merging using intelligent vehicles. First, the concepts of the control algorithms are reviewed chronologically divided into three types of intelligent vehicle: completely automated, equipped with cooperative adaptive cruise control and equipped with on-board display. Then, a common structure is identified, and the algorithms are presented based on their characteristics in order to identify similarities, dissimilarities, trends and possible future research directions. Finally, using a similar approach, a review of the methods used to evaluate these control strategies identifies important aspects that should be considered by further research on this topic.

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Section: Vehicles Equipped With Caccmentioning

confidence: 99%

Section: Merging Typementioning

confidence: 99%

Section: Authormentioning

confidence: 99%

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

Scarinci

Heydecker

2014

Transport Reviews

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“…The merge control application with inter-vehicle communication is also studied in [Uno and Tsugawa, 1999]. It uses the concept of virtual vehicle that is used to map vehicles on one lane onto the other lane (assuming a 2-lane merge) for ensuring safe distance criteria.…”

Section: Related Workmentioning

confidence: 99%

Merge Algorithms for Intelligent Vehicles

Raravi

Shingde

Ramamritham

et al. 2007

Next Generation Design and Verification Methodologies for Distributed Embedded Control Systems

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There is an increased concern towards the design and development of computercontrolled automotive applications to improve safety, reduce accidents, increase traffic flow, and enhance comfort for drivers. Automakers are trying to make vehicles more intelligent by embedding processors which can be used to implement Electronic and Control Software (ECS) for taking smart decisions on the road or assisting the driver in doing the same. These ECS applications are high-integrity, distributed and real-time in nature. Inter-Vehicle Communication and Road-Vehicle Communication (IVC/RVC) mechanisms will only add to this intelligence by enabling distributed implementation of these applications. Our work studies one such application, namely Automatic Merge Control System, which ensures safe vehicle maneuver in the region where two roads intersect. We have discussed two approaches for designing this system both aimed at minimizing the Driving-Time-To-Intersection (DTTI) of vehicles, subject to certain constraints for ensuring safety. We have (i) formulated this system as an optimization problem which can be solved using standard solvers and (ii) proposed an intuitive approach namely, Head of Lane (HoL) algorithm which incurs less computational overhead compared to optimization formulation. Simulations carried out using Matlab and C++ demonstrate that the proposed approaches ensure safe vehicle maneuvering at intersection regions. In this on-going work, we are implementing the system on robotic vehicular platforms built in our lab.

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“…Wireless technologies with positioning systems have received a great attention since they offer a tremendous potential for reinforcing the link between the vehicles (drivers), the traffic environment, and the control system (Uno et al, 1999;Sakaguchi et al, 2000).…”

Section: Introductionmentioning

confidence: 99%

Cooperative driving at isolated intersections based on the optimal minimization of the maximum exit time

Abbas-Turki

Perronnet

2013

International Journal of Applied Mathematics and Computer Science

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Traditional traffic control systems based on traffic light have achieved a great success in reducing the average delay of vehicles or in improving the traffic capacity. The main idea of these systems is based on the optimization of the cycle time, the phase sequence, and the phase duration. The right-of-ways are assigned to vehicles of one or several movements for a specific time. With the emergence of cooperative driving, an innovative traffic control concept, Autonomous Intersection Management (AIM), has emerged. In the framework of AIM, the right-of-way is customized on the measurement of the vehicle state and the traffic control turns to determine the passing sequence of vehicles. Since each vehicle is considered individually, AIM faces a combinatorial optimization problem. This paper proposes a dynamic programming algorithm to find its optimal solution in polynomial time. Experimental results obtained by simulation show that the proper arrangement of the vehicle passing sequence can greatly improve traffic efficiency at intersections.

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A merging control algorithm based on inter-vehicle communication

Cited by 116 publications

References 2 publications

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

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

Merge Algorithms for Intelligent Vehicles

Cooperative driving at isolated intersections based on the optimal minimization of the maximum exit time

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