A control strategy for merging a single vehicle into a platoon at highway on-ramps
An important topic of research regarding cooperative platoons is merging vehicles into a platoon at highway on-ramps. This paper proposes a control strategy for the merging of a single cooperative automated vehicle into a platoon of vehicles at highway on-ramps. The proposed strategy can handle large differences in initial positions and velocities, sensor noise, and disturbances caused by the platoon leader. Furthermore, the required controller transitions are designed such that the switch between regular platooning and the merging maneuver can easily be made by all vehicles. The proposed strategy is validated using simulations. In the simulation environment communication delays, sensor noise, and disturbances of the platoon leader have been included. The proposed strategy is compared to a traditional strategy and shows a clear improvement in terms of noise handling. Furthermore, the proposed strategy behaves satisfactory considering safety, efficiency, passenger comfort, and disturbance handling.
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- Record URL:
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Availability:
- Find a library where document is available. Order URL: http://worldcat.org/issn/0968090X
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Supplemental Notes:
- © 2022 W.J. Scholte et al. Published by Elsevier Ltd. Abstract reprinted with permission of Elsevier.
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Authors:
- Scholte, W J
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0000-0003-4906-9853
- Zegelaar, P W A
- Nijmeijer, H
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0000-0001-5883-6191
- Publication Date: 2022-3
Language
- English
Media Info
- Media Type: Web
- Features: Appendices; Figures; References; Tables;
- Pagination: 103511
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Serial:
- Transportation Research Part C: Emerging Technologies
- Volume: 136
- Issue Number: 0
- Publisher: Elsevier
- ISSN: 0968-090X
- Serial URL: http://www.sciencedirect.com/science/journal/0968090X
Subject/Index Terms
- TRT Terms: Autonomous vehicles; Highways; Merging control; On ramps; Simulation; Traffic platooning
- Subject Areas: Highways; Operations and Traffic Management; Planning and Forecasting; Vehicles and Equipment;
Filing Info
- Accession Number: 01835242
- Record Type: Publication
- Files: TRIS
- Created Date: Feb 3 2022 11:55AM