Merging trajectory generation for vehicle on a motor way using receding horizon control framework consideration of its applications

Wenjing Cao; Masakazu Muka; Taketoshi Kawabe; Hikaru Nishira; Noriaki Fujiki

doi:10.1109/CCA.2014.6981617

Merging trajectory generation for vehicle on a motor way using receding horizon control framework consideration of its applications

Wenjing Cao, Masakazu Muka, Taketoshi Kawabe, Hikaru Nishira, Noriaki Fujiki

Section of Measurement and Control Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

9 Citations (Scopus)

Abstract

This paper describes a selection of a merging point and a trajectory generation method for a merging maneuver of vehicles on a motor way which is possible to be used in a centralized merging control system as well as in a stand-alone merging control system. The merging problem is formulated into an optimization problem using receding horizon control framework. An appropriate path to merge is designed for the merging vehicle, which is modified according to the motion of the main lane vehicles. Appropriate constraints are set for the vehicles so that the vehicle can move smoothly in the specified range. The possibility of the method to be used in a centralized motion control system for vehicles during merging and a standalone motion control system for the merging vehicle is examined by computer simulation.

Original language	English
Title of host publication	2014 IEEE Conference on Control Applications, CCA. Part of 2014 IEEE Multi-conference on Systems and Control, MSC 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2127-2134
Number of pages	8
ISBN (Electronic)	9781479974092
DOIs	https://doi.org/10.1109/CCA.2014.6981617
Publication status	Published - Dec 9 2014
Event	2014 IEEE Conference on Control Applications, CCA 2014 - Juan Les Antibes, France Duration: Oct 8 2014 → Oct 10 2014

Publication series

Name	2014 IEEE Conference on Control Applications, CCA. Part of 2014 IEEE Multi-conference on Systems and Control, MSC 2014

Other

Other	2014 IEEE Conference on Control Applications, CCA 2014
Country/Territory	France
City	Juan Les Antibes
Period	10/8/14 → 10/10/14

All Science Journal Classification (ASJC) codes

Computer Science Applications
Control and Systems Engineering

Access to Document

10.1109/CCA.2014.6981617

Cite this

Cao, W., Muka, M., Kawabe, T., Nishira, H., & Fujiki, N. (2014). Merging trajectory generation for vehicle on a motor way using receding horizon control framework consideration of its applications. In 2014 IEEE Conference on Control Applications, CCA. Part of 2014 IEEE Multi-conference on Systems and Control, MSC 2014 (pp. 2127-2134). Article 6981617 (2014 IEEE Conference on Control Applications, CCA. Part of 2014 IEEE Multi-conference on Systems and Control, MSC 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCA.2014.6981617

Merging trajectory generation for vehicle on a motor way using receding horizon control framework consideration of its applications. / Cao, Wenjing; Muka, Masakazu; Kawabe, Taketoshi et al.
2014 IEEE Conference on Control Applications, CCA. Part of 2014 IEEE Multi-conference on Systems and Control, MSC 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 2127-2134 6981617 (2014 IEEE Conference on Control Applications, CCA. Part of 2014 IEEE Multi-conference on Systems and Control, MSC 2014).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Cao, W, Muka, M, Kawabe, T, Nishira, H & Fujiki, N 2014, Merging trajectory generation for vehicle on a motor way using receding horizon control framework consideration of its applications. in 2014 IEEE Conference on Control Applications, CCA. Part of 2014 IEEE Multi-conference on Systems and Control, MSC 2014., 6981617, 2014 IEEE Conference on Control Applications, CCA. Part of 2014 IEEE Multi-conference on Systems and Control, MSC 2014, Institute of Electrical and Electronics Engineers Inc., pp. 2127-2134, 2014 IEEE Conference on Control Applications, CCA 2014, Juan Les Antibes, France, 10/8/14. https://doi.org/10.1109/CCA.2014.6981617

Cao W, Muka M, Kawabe T, Nishira H, Fujiki N. Merging trajectory generation for vehicle on a motor way using receding horizon control framework consideration of its applications. In 2014 IEEE Conference on Control Applications, CCA. Part of 2014 IEEE Multi-conference on Systems and Control, MSC 2014. Institute of Electrical and Electronics Engineers Inc. 2014. p. 2127-2134. 6981617. (2014 IEEE Conference on Control Applications, CCA. Part of 2014 IEEE Multi-conference on Systems and Control, MSC 2014). doi: 10.1109/CCA.2014.6981617

Cao, Wenjing ; Muka, Masakazu ; Kawabe, Taketoshi et al. / Merging trajectory generation for vehicle on a motor way using receding horizon control framework consideration of its applications. 2014 IEEE Conference on Control Applications, CCA. Part of 2014 IEEE Multi-conference on Systems and Control, MSC 2014. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 2127-2134 (2014 IEEE Conference on Control Applications, CCA. Part of 2014 IEEE Multi-conference on Systems and Control, MSC 2014).

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Merging trajectory generation for vehicle on a motor way using receding horizon control framework consideration of its applications

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