Title :
A two-layer control scheme for merging of automated vehicles
Author :
Schmidt, Gunther ; Posch, B.
Author_Institution :
Technische Universit??t M??nchen, M??nchen, Germany
Abstract :
This paper extends previous work in the field of automatic vehicle merging and presents a comprehensive solution to the merging control problem. From a control viewpoint automatic merging of two streams of vehicles leads to a complex non-linear, combined continuous/discrete dynamic system of time depending order and structure. The design of a comprehensive merging strategy is carried out through a heuristic approach, based on a detailed analysis of the functional behaviour of the system. Safety requirements together with a consideration of the specifics of the merging process lead to a coupled two-layer control scheme. The theoretical background for the design approach is provided and the performance of the automatic merging control system is discussed based on computer simulations.
Keywords :
Automatic control; Laboratories; Merging; Motion control; Motion detection; Vehicles; Velocity control;
Conference_Titel :
Decision and Control, 1983. The 22nd IEEE Conference on
Conference_Location :
San Antonio, TX, USA
DOI :
10.1109/CDC.1983.269891