Automotive longitudinal speed pattern generation with acceleration constraints aiming at mild merging using model predictive control method

Abstract

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.

Optimal Vehicle Trajectory Planning With Control Constraints and Recursive Implementation for Automated On-Ramp Merging

“…The other major category of strategies applies optimization. In a series of studies, [14,[22][23][24] formulated an optimal control problem governing cooperative driving of all mainline vehicles and on-ramp merging vehicles in a merge section. Although the authors used model predictive control (MPC), they did not really take the advantage of MPC's "closing-the-loop" feature, because all the vehicles are controlled by a centralized controller and thus no vehicle is an external disturbance and no prediction is really needed.…”

Cooperative vehicle path generation during merging using model predictive control with real-time optimization

“…As a comparison, the simulation of this case is also conducted with the method proposed in Cao, Mukai, Kawabe, Nishira, and Fujiki (2013b), in which b was fixed at 0. The time histories of the variables are shown in Fig.…”

Trajectory Planning Algorithm for Merging Control of Heterogeneous Vehicular Platoon on Curve Road

“…Goli and Eskandarian (2014) proposed an algorithm consisting of proportional-derivative and sliding mode controllers for merging operation in a platoon. The second group considered the merging control on a ramp (Cao et al 2013;Rai et al 2015;Sakaguchi et al 1997). Sakaguchi et al (1997) introduced a merging algorithm on a ramp based on the pole assignment technology and virtual vehicles.…”

“…Sakaguchi et al (1997) introduced a merging algorithm on a ramp based on the pole assignment technology and virtual vehicles. Cao et al (2013) suggested a scheme of merging control on a ramp based the model predictive control algorithm. Rai et al (2015) considered the artificial potential field for the design of the controller of merging operation.…”