Path Generation Method Using Model Predictive Control with a Mixed Integer Programming for Merging Problem on a Single-lane

• MUKAI Masakazu

  Faculty of Engineering, Kogakuin University

• NOGUCHI Ryosuke

  Faculty of Engineering, Kogakuin University

• KAWABE Taketoshi

  Graduate School of Information Science and Electrical Engineering, Kyushu University

Bibliographic Information

Other Title

• 混合整数計画法を用いたモデル予測制御による1車線道路への合流経路生成
• コンゴウ セイスウ ケイカクホウ オ モチイタ モデル ヨソク セイギョ ニ ヨル 1シャセン ドウロ エ ノ ゴウリュウ ケイロ セイセイ

Abstract

This paper proposes a trajectory generation method for merging of automobiles on a single-lane. The proposed method can consider a feasibility of the merging. The trajectory generation problem is formulated as a mixed integer programming (MIP) problem. The method is implemented based on receding horizon philosophy. The MIP is solved at each sampling instance then a first element of the optimal input is applied to system. Computer simulation is conducted to show the effectiveness of the proposed method. Furthermore it is shown that a design of the merging trajectory is possible by tuning of weights of the penalty functions.

Journal

• Transactions of the Society of Instrument and Control Engineers

  Transactions of the Society of Instrument and Control Engineers 52 (11), 625-630, 2016

  The Society of Instrument and Control Engineers

Keywords

• model predictive control
• merging
• automotive control
• traffic control

Details

• CRID: 1390001204508079616
• NII Article ID: 130005284765
• NII Book ID: AN00072392
• DOI: 10.9746/sicetr.52.625
• ISSN: 18838189
• ISSN: 04534654
• NDL BIB ID: 027751721
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I027751721
• Web Site: https://www.jstage.jst.go.jp/article/sicetr/52/11/52_625/_pdf
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed