Merging of Connected and Automated Vehicles at Roundabout Using Model Predictive Control

Mohamad Hafizulazwan Bin Mohamad Nor, Toru Namerikawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This paper addresses a merging problem of connected and automated vehicles at single lane with two different freeways roundabout. First, we assume that the merging vehicle already knew the environment of the roadway beforehand. After that, we formulate the optimization problem based on model predictive control framework which includes lane keeping and collision avoidance. Finally, we show in the simulation results that the proposed solution is capable of merging the vehicle at the roundabout effectively.

Original languageEnglish
Title of host publication2018 57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages272-277
Number of pages6
ISBN (Electronic)9784907764609
DOIs
Publication statusPublished - 2018 Oct 15
Event57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018 - Nara, Japan
Duration: 2018 Sep 112018 Sep 14

Other

Other57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018
CountryJapan
CityNara
Period18/9/1118/9/14

Keywords

  • Connected and automated vehicles (CAVs)
  • Merging control
  • Roundabouts
  • Vehicle coordination

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Control and Optimization
  • Instrumentation

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  • Cite this

    Hafizulazwan Bin Mohamad Nor, M., & Namerikawa, T. (2018). Merging of Connected and Automated Vehicles at Roundabout Using Model Predictive Control. In 2018 57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018 (pp. 272-277). [8492635] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/SICE.2018.8492635