Print Email Facebook Twitter A Flexible Strategy for Efficient Merging Maneuvers of Connected Automated Vehicles Title A Flexible Strategy for Efficient Merging Maneuvers of Connected Automated Vehicles Author Chen, N. (TU Delft Transport and Planning) Wang, M. (TU Delft Transport and Planning) Alkim, Tom (Ministry of Infrastructure and the Environment) van Arem, B. (TU Delft Transport and Planning) Date 2018-01-01 Abstract 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 generate optimal trajectories of interacting vehicles. The strategy determines the optimal merging time instant for merging vehicles and acceleration of all involved vehicles to minimize deviation from the preceding vehicles' speed, deviation from preferred inter-vehicle gaps, accelerations, and the time spent merging. The strategy builds on a pre-determined order of vehicles passing the conflict zone but is not restricted to fixed merging points as previous research assumes. It resembles human-like behavior in the sense that on-ramp vehicles will accept smaller gaps when approaching the end of the acceleration lane. The performance of the strategy is demonstrated in simulations. To reference this document use: http://resolver.tudelft.nl/uuid:527d064a-0cbf-4ffe-9817-da1932cc0d0d DOI https://doi.org/10.1061/9780784481523.005 Publisher American Society of Civil Engineers (ASCE) Embargo date 2019-01-08 ISBN 9780784481523 Source CICTP 2018: Intelligence, Connectivity, and Mobility - Proceedings of the 18th COTA International Conference of Transportation Professionals Event 18th COTA International Conference of Transportation Professionals: Intelligence, Connectivity, and Mobility, 2018-07-05 → 2018-07-08, Beijing, China Bibliographical note Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. Part of collection Institutional Repository Document type conference paper Rights © 2018 N. Chen, M. Wang, Tom Alkim, B. van Arem Files PDF A_Flexible_Strategy_for_E ... ersion.pdf 782.83 KB Close viewer /islandora/object/uuid:527d064a-0cbf-4ffe-9817-da1932cc0d0d/datastream/OBJ/view