Automated Vehicle Merging Maneuver Implementation for AHS

Author: Lu Xiao-Yun   Tan Han-Shue   Shladover Steven E.   Hedrick J. Karl  

Publisher: Taylor & Francis Ltd

ISSN: 0042-3114

Source: Vehicle System Dynamics, Vol.41, Iss.2, 2004-01, pp. : 85-107

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Abstract

Summary This paper presents a real-time implementation of a general merging algorithm for automated highway systems. A merging control problem is proposed first. A real-time algorithm is then presented, which is used to calculate a smooth reference speed trajectory for the merging vehicle based on the speed of the main lane vehicle. This algorithm can also be applied even when the main lane vehicles change speed. To make the algorithm adapt to different road layouts and to increase safety, a concept of virtual platooning is proposed. It effectively shifts the time of platoon formation forward prior to the start of real merging. Aspects closely related to real-time implementation are discussed, such as the controller adopted, the use of magnetometer based distance measurement and information passing by communication from main lane vehicles. Test results are presented and briefly analyzed.