Longitudinal speed pattern generation for mild cooperative merging based on MPC

摘要

To realize realistic and mild merging, this paper proposes a merging path generation method based on model predictive control (MPC) method with acceleration constraints. To simplify the merging problem, it is considered in two-dimensional space and formulated into a one-dimensional space optimization problem by relating the longitudinal motion of the merging vehicle to the lateral motion of it. To generate cooperative merging, the motions of the merging vehicle and the relevant main lane vehicle are optimized at the same time. Moreover, to make the variation of accelerations realistic, the parameters are chosen appropriately. With the proposed method, the merging vehicle can merge smoothly and realistically in cooperative with the main lane vehicle. The effectiveness of this method is verified by a computer simulation of the motions of one merging vehicle and one main lane vehicle. The initial conditions of the merging are set realistically according to the data drawn from a helicopter-shot merging scene. The results proved that, with the proposed method the merging vehicle can merge mildly in cooperation with the main lane vehicle.