Cooperative Vehicle Merging with Guaranteed Collision Avoidance. Issue 6 (2019)

• Record Type: Journal Article
• Authors: Schwab, Alexander; Lunze, Jan
• Is Part Of: IFAC-PapersOnLine. Volume 52:Issue 6(2019)
• Page Start: 7
• Page End: 12
• Publication Date: 2019
• Subjects: Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2019.08.140
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: This paper is concerned with the vehicle merging problem of two adjacent platoons, which are heading towards a lane reduction. A distributed feed-forward control scheme for adjacent vehicles is proposed that handles the lane reduction cooperatively by creating a gap in the main lane for a merging vehicle. Modern vehicles are considered, which are connected via sensory and communication networks. It is proved that collision avoidance is guaranteed due to an appropriate trajectory planning.