Print Email Facebook Twitter A Cooperative Protocol for Vehicle Merging Using Bi-dimensional Artificial Potential Fields Title A Cooperative Protocol for Vehicle Merging Using Bi-dimensional Artificial Potential Fields Author Liu, Zhengqiang (Southeast University) Liu, Di (Southeast University; Rijksuniversiteit Groningen) Yu, Wenwu (Southeast University) Baldi, S. (TU Delft Team Bart De Schutter; Southeast University) Contributor Kim, Jinwhan (editor) Englot, Brendan (editor) Park, Hae-Won (editor) Choi, Han-Lim (editor) Myung, Hyun (editor) Kim, Junmo (editor) Kim, Jong-Hwan (editor) Date 2022 Abstract In recent years, platooning solutions like cooperative adaptive cruise control (CACC) have been deeply studied. It is common in such platooning literature to assume that the vehicles drive on the same lane (longitudinal platooning). At the same time, lateral control during merging maneuvers is commonly addressed as a path planning problem, in which the ego vehicle changes the lane during merging without necessarily cooperating with its neighboring vehicles (i.e. without considering gap closing). The primary objective of this article is to develop a control strategy which involves both longitudinal and lateral vehicle dynamics, where the vehicles merge and form a platoon in a cooperative way without a priori path planning. Appropriately designed bi-dimensional artificial potential fields are used to achieve this goal and the proposed protocol is verified through simulations with CarSim. Subject Artificial potential fieldsLateral controlLongitudinal controlMerging maneuverPlatooning To reference this document use: http://resolver.tudelft.nl/uuid:01ecc5f8-655b-4224-bada-e05a552efa33 DOI https://doi.org/10.1007/978-3-030-97672-9_51 Publisher Springer Embargo date 2023-04-01 ISBN 978-3-030-97671-2 Source Robot Intelligence Technology and Applications 6: Results from the 9th International Conference on Robot Intelligence Technology and Applications Event 9th International Conference on Robot Intelligence Technology and Applications, RiTA 2021, 2021-12-16 → 2021-12-17, Daejeon, Korea, Democratic People's Republic of Series Lecture Notes in Networks and Systems, 2367-3370, 429 LNNS Bibliographical note Accepted Author Manuscript Part of collection Institutional Repository Document type conference paper Rights © 2022 Zhengqiang Liu, Di Liu, Wenwu Yu, S. Baldi Files PDF RITA21_0019_FI.pdf 5.58 MB Close viewer /islandora/object/uuid:01ecc5f8-655b-4224-bada-e05a552efa33/datastream/OBJ/view