NDLI: Merging trajectory generation for vehicle on a motor way using receding horizon control framework consideration of its applications

Content Provider	IEEE Xplore Digital Library
Author	Wenjing Cao Muka, M. Kawabe, T. Nishira, H. Fujiki, N.
Copyright Year	2014
Description	Author affiliation: Dept. of Automotive Sci., Kyushu Univ., Fukuoka, Japan (Kawabe, T.) \|\| Dept. of Electr. Eng., Kogakuin Univ., Tokyo, Japan (Muka, M.)
Abstract	This paper describes a selection of a merging point and a trajectory generation method for a merging maneuver of vehicles on a motor way which is possible to be used in a centralized merging control system as well as in a stand-alone merging control system. The merging problem is formulated into an optimization problem using receding horizon control framework. An appropriate path to merge is designed for the merging vehicle, which is modified according to the motion of the main lane vehicles. Appropriate constraints are set for the vehicles so that the vehicle can move smoothly in the specified range. The possibility of the method to be used in a centralized motion control system for vehicles during merging and a standalone motion control system for the merging vehicle is examined by computer simulation.
Starting Page	2127
Ending Page	2134
File Size	1015825
Page Count	8
File Format	PDF
ISBN	9781479974092
DOI	10.1109/CCA.2014.6981617
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-10-08
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Merging Vehicles Acceleration Optimization Trajectory Centralized control
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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