60th IEEE Conference on Decision and Control, CDC 2021
Sprache des Tagungstitel:
Englisch
Original Kurzfassung:
Merging, e.g., from a ramp to a highway, is a potentially
complex operation that frequently requires cooperation
between the involved vehicles. It can also lead to significant
disturbances of the traffic and even to accidents - either
concerning the entering vehicles or induced ones due to the
vehicles? reactions on the main lane. While V2X and automated
driving might solve the problem over the long term, mixed
traffic, including human-driven vehicles without connection,
is expected to be the norm for a longer time. Against this
background, this paper is concerned with a cautious merging
assistant, which not only ensures the safety of the merging
vehicle but also minimizes the disturbance of the main traffic.
As an indicator of the induced traffic disturbance, we propose
a function related only on readily available measurements of
the first disturbed vehicle. The merging assistant is designed as
an MPC control using a novel reaction model. The evaluation
is done using a catalogue of standard merging situations and
shows that the cautious control does indeed provide a safe
merging while affecting less the incoming traffic.
Forschungs-