Cooperative vehicle merging on highways – model predictive controlCooperative vehicle merging on highways – model predictive control Πλήρης Δημοσίευση σε Συνέδριο Conference Full Paper 2017-11-132017enThe 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.The 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.http://creativecommons.org/licenses/by-nc-nd/4.0/17-0093096th Annual Meeting of the Transportation Research BoardProceedings of the 96th Annual Meeting of the Transportation Research BoardNtousakis_et_al_TRB_2017.pdfChania [Greece]Library of TUC2017-11-13application/pdf1.4 MBfree Ntousakis Ioannis-Antonios Ντουσακης Ιωαννης-Αντωνιος Nikolos Ioannis Νικολος Ιωαννης Papageorgiou Markos Παπαγεωργιου Μαρκος Transportation Research Board Optimal vehicle trajectory planning Cooperative merging Automated vehicles Connected vehicles Model predictive control