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Chen, N. (author), van Arem, B. (author), Wang, M. (author)This paper aims to optimize on-ramp merging processes for connected automated vehicles by utilizing an existing hierarchical control architecture including a decision-maker and an operational controller. The decision-maker employs surrogate linear models to predict future vehicular acceleration analytically and computes a merging sequence to...conference paper 2020
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Chen, N. (author), Wang, M. (author), Alkim, Tom (author), van Arem, B. (author)Merging is a challenging task for automated vehicles. This paper proposes a strategy for connected automated vehicles (CAVs) to guide merging on-ramp vehicles efficiently while ensuring safe interactions with the mainline vehicles. Point-mass kinematic models are used to describe 2-D vehicle motion and receding horizon control is used to...conference paper 2018