On ramp merging scenario is critical to mobility and safety of highway traffic. The existing planning algorithms mainly focus on longitudinal motion coordination for collision avoidance. However, it has been shown that with lateral lane change in main lanes, the road capacity can be greatly enhanced. In this article, we propose an integrated framework for lane change decision making and longitudinal motion planning. Vehicles estimate the time they arrive merge region to guarantee collision avoidance, and optimal control based heuristics are calculated to make lane change decisions. To achieve better performance, we propose a cooperative decision making and planning algorithm. Numerical simulations show the efficiency of the proposed planning algorithm over simple sequential planning policy and scenarios without lane change.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Heuristics Based Cooperative Planning for Highway On-Ramp Merge


    Contributors:
    Shen, Minghao (author) / Hu, Hanyang (author) / Sun, Bohua (author) / Deng, Weiwen (author)


    Publication date :

    2018-11-01


    Size :

    485699 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




    SYSTEMS AND METHODS FOR COOPERATIVE RAMP MERGE

    JALALI SOROUSH / NOURKHIZ MAHJOUB HOSSEIN / AL-NADAWI YASIR KHUDHAIR | European Patent Office | 2021

    Free access

    Systems and methods for cooperative ramp merge

    JALALI SOROUSH / NOURKHIZ MAHJOUB HOSSEIN / AL-NADAWI YASIR KHUDHAIR | European Patent Office | 2022

    Free access

    Systems and methods for cooperative ramp merge

    JALALI SOROUSH / NOURKHIZ MAHJOUB HOSSEIN / AL-NADAWI YASIR KHUDHAIR | European Patent Office | 2022

    Free access

    SYSTEMS AND METHODS FOR COOPERATIVE RAMP MERGE

    JALALI SOROUSH / NOURKHIZ MAHJOUB HOSSEIN / AL-NADAWI YASIR KHUDHAIR | European Patent Office | 2021

    Free access