Cooperative Vehicle Merging with Guaranteed Collision Avoidance. Issue 6 (2019) - Schwab, Alexander
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.