Cooperative Vehicle Merging on Highways - Model Predictive Control
The problem of trajectory planning for the cooperative merging of vehicles in highways was previously formulated by the authors as a finite-horizon optimal control problem and was solved analytically. In this work, the trajectory planning approach is further extended in various respects, and an alternative solution procedure via a time-variant Linear-Quadratic Regulator approach is also presented. Most importantly, a Model Predictive Control (MPC) scheme is utilized to compensate possible disturbances in the trajectories of the cooperating vehicles, whereby the analytical optimal solution is applied repeatedly in real time, using updated measurements, until the merging procedure is actually finalized. The methodology is demonstrated for a set of vehicles inside the merging area. Various numerical simulations illustrate the validity and applicability of the method.
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Supplemental Notes:
- This paper was sponsored by TRB committee AHB30 Standing Committee on Vehicle-Highway Automation.
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Corporate Authors:
500 Fifth Street, NW
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Authors:
- Ntousakis, Ioannis A
- Nikolos, Ioannis K
- Papageorgiou, Markos
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Conference:
- Transportation Research Board 96th Annual Meeting
- Location: Washington DC, United States
- Date: 2017-1-8 to 2017-1-12
- Date: 2017
Language
- English
Media Info
- Media Type: Digital/other
- Features: Figures; References; Tables;
- Pagination: 19p
- Monograph Title: TRB 96th Annual Meeting Compendium of Papers
Subject/Index Terms
- TRT Terms: Linear equations; Merging control; Mobile communication systems; Trajectory control; Vehicle trajectories
- Uncontrolled Terms: Model predictive control
- Subject Areas: Highways; Operations and Traffic Management;
Filing Info
- Accession Number: 01622950
- Record Type: Publication
- Report/Paper Numbers: 17-00930
- Files: TRIS, TRB, ATRI
- Created Date: Jan 24 2017 12:03PM