TY - GEN
T1 - Merging of Connected and Automated Vehicles at Roundabout Using Model Predictive Control
AU - Hafizulazwan Bin Mohamad Nor, Mohamad
AU - Namerikawa, Toru
N1 - Publisher Copyright:
© 2018 The Society of Instrument and Control Enginners - SICE.
PY - 2018/10/15
Y1 - 2018/10/15
N2 - 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.
AB - 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.
KW - Connected and automated vehicles (CAVs)
KW - Merging control
KW - Roundabouts
KW - Vehicle coordination
UR - http://www.scopus.com/inward/record.url?scp=85056724035&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85056724035&partnerID=8YFLogxK
U2 - 10.23919/SICE.2018.8492635
DO - 10.23919/SICE.2018.8492635
M3 - Conference contribution
AN - SCOPUS:85056724035
T3 - 2018 57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018
SP - 272
EP - 277
BT - 2018 57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018
Y2 - 11 September 2018 through 14 September 2018
ER -