Smooth merging for autonomous vehicles by centralized control

DOI IR (HANDLE) Open Access

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  • 集中制御による自動運転車両合流時の挙動円滑化

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This paper studies a merging control problem for autonomous vehicles. We revisit the centralized optimal control method proposed by Rios-Torres and Malikopoulos where an analytical solution is given for an energy-and-space efficient cooperative merging. We first observe that in some practical situations, their method results in sudden acceleration, causing a deterioration in ride comfort. Therefore, we propose several modifications to their method to smoothen the behavior in these situations. Numerical examples demonstrate the effectiveness of the proposed method.

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