TY - GEN
T1 - Merging control for automated vehicles using decentralized model predictive control
AU - Hayashi, Yasuhiro
AU - Namerikawa, Toru
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/8/30
Y1 - 2018/8/30
N2 - Ahstract-This paper deals with merging control of automated vehicles using distributed model predictive control. We consider a road model which has two main lanes. In the distributed control algorithm, vehicles repeat sharing the planned future trajectory with other vehicles traveling in the vicinity of each vehicle by using communication and replanning its own trajectory considering the future trajectory of other vehicles. Moreover, in order to further improve the stability of model predictive control, terminal constraints are set and feasible conditions for optimization problems under the terminal conditions are derived. At the last part of this paper, we confirm the effectiveness of proposed methods through simulations.
AB - Ahstract-This paper deals with merging control of automated vehicles using distributed model predictive control. We consider a road model which has two main lanes. In the distributed control algorithm, vehicles repeat sharing the planned future trajectory with other vehicles traveling in the vicinity of each vehicle by using communication and replanning its own trajectory considering the future trajectory of other vehicles. Moreover, in order to further improve the stability of model predictive control, terminal constraints are set and feasible conditions for optimization problems under the terminal conditions are derived. At the last part of this paper, we confirm the effectiveness of proposed methods through simulations.
UR - http://www.scopus.com/inward/record.url?scp=85053922018&partnerID=8YFLogxK
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U2 - 10.1109/AIM.2018.8452265
DO - 10.1109/AIM.2018.8452265
M3 - Conference contribution
AN - SCOPUS:85053922018
SN - 9781538618547
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 268
EP - 273
BT - AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018
Y2 - 9 July 2018 through 12 July 2018
ER -