Merging control for automated vehicles using decentralized model predictive control

Yasuhiro Hayashi, Toru Namerikawa

研究成果: Conference contribution

2 引用 (Scopus)

抜粋

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.

元の言語English
ホスト出版物のタイトルAIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
出版者Institute of Electrical and Electronics Engineers Inc.
ページ268-273
ページ数6
2018-July
ISBN(印刷物)9781538618547
DOI
出版物ステータスPublished - 2018 8 30
イベント2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018 - Auckland, New Zealand
継続期間: 2018 7 92018 7 12

Other

Other2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018
New Zealand
Auckland
期間18/7/918/7/12

    フィンガープリント

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

これを引用

Hayashi, Y., & Namerikawa, T. (2018). Merging control for automated vehicles using decentralized model predictive control. : AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics (巻 2018-July, pp. 268-273). [8452265] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2018.8452265