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Cooperative vehicle merging on highways – model predictive control

Ntousakis Ioannis-Antonios, Nikolos Ioannis, Papageorgiou Markos

Απλή Εγγραφή


URIhttp://purl.tuc.gr/dl/dias/50EF5A68-9FFE-4BC7-AEBB-B6AE214A9E82-
Αναγνωριστικόhttps://trid.trb.org/view.aspx?id=1437404-
Γλώσσαen-
Μέγεθος19 pagesen
ΤίτλοςCooperative vehicle merging on highways – model predictive controlen
ΔημιουργόςNtousakis Ioannis-Antoniosen
ΔημιουργόςΝτουσακης Ιωαννης-Αντωνιοςel
ΔημιουργόςNikolos Ioannisen
ΔημιουργόςΝικολος Ιωαννηςel
ΔημιουργόςPapageorgiou Markosen
ΔημιουργόςΠαπαγεωργιου Μαρκοςel
ΕκδότηςTransportation Research Boarden
ΠεριγραφήThe research leading to these results has received funding from the European Research Council under the European Union's Seventh Framework Programme (FP/2007-2013) / ERC Grant Agreement n. 321132, project TRAMAN21.en
ΠερίληψηThe problem of trajectory planning for the cooperative merging of vehicles in highways was previously formulated by the authors as a finite horizon optimal control problem and was solved analytically. In this work, the trajectory planning approach is further extended in various respects, and an alternative solution procedure via a time variant Linear Quadratic Regulator approach is also presented. Most importantly, a Model Predictive Control (MPC) scheme is utilized to compensate possible disturbances in the trajectories of the cooperating vehicles, whereby the analytical optimal solution is applied repeatedly in real time, using updated measurements, until the merging procedure is actually finalized. The methodology is demonstrated for a set of vehicles inside the merging area. Various numerical simulations illustrate the validity and applicability of the method.en
ΤύποςΠλήρης Δημοσίευση σε Συνέδριοel
ΤύποςConference Full Paperen
Άδεια Χρήσηςhttp://creativecommons.org/licenses/by-nc-nd/4.0/en
Ημερομηνία2017-11-13-
Ημερομηνία Δημοσίευσης2017-
Θεματική ΚατηγορίαOptimal vehicle trajectory planningen
Θεματική ΚατηγορίαCooperative mergingen
Θεματική ΚατηγορίαAutomated vehiclesen
Θεματική ΚατηγορίαConnected vehiclesen
Θεματική ΚατηγορίαModel predictive controlen
Βιβλιογραφική ΑναφοράI. A. Ntousakis, I. K. Nikolos, M. Papageorgiou, "Cooperative vehicle merging on highways – model predictive control," in 96th Annual Meeting of the Transportation Research Board (TRB), 2017.en

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