曹 文静

To reduce drivers’ mental load and traffic congestion caused by merging maneuver, a merging trajectory generation method aiming for practical automatic driving was proposed in a past research by the authors. In this paper, the robustness of the merging trajectory generation method against sensor noises that contaminate the state variables is enhanced. The robustness was enabled by adding dummy optimization variables that relax the constraints of variables expressed by equations and barrier functions. The stage costs composed by these introduced variables were designed to generate safe and smooth merging maneuver. Effectiveness of the proposed method for a typical case was observed in the simulation results. To check if the proposed method works well under different initial conditions, 116 initial conditions were generated randomly. The proposed method solved all the cases of merging problem, while the conventional method failed in 80% of the cases.

This paper has proposed a gap selection and path generation method during merging maneuver of automobile. In this method the merging problem of one merging vehicle and multiple main lane vehicles is formulated using a model predictive control method. Lanes of a motor way are approximated with proposed smooth lines. Assuming that the main lane vehicles run on the centerline of the main lane, an appropriate path of the merging vehicle can be simply designed and modified according to the motions of the main lane vehicles. To generate mild merging, accelerations of all the relevant vehicles are constrained. Effectiveness of the proposed method is validated by computer simulations of the merging maneuvers of one merging vehicle and two main lane vehicles in different conditions. An example of actual cooperative merging maneuver is generated by the proposed method. Further the collision avoidance ability and the initial condition dependent property of the proposed method are tested.