Merging Control for Automated Vehicles using Decentralized Model Predictive Control

Ahstract-This paper deals with merging control of automated vehicles using distributed model predictive control. We consider a road model which has two main lanes. In the distributed control algorithm, vehicles repeat sharing the planned future trajectory with other vehicles traveling in the vicinity of each vehicle by using communication and replanning its own trajectory considering the future trajectory of other vehicles. Moreover, in order to further improve the stability of model predictive control, terminal constraints are set and feasible conditions for optimization problems under the terminal conditions are derived. At the last part of this paper, we confirm the effectiveness of proposed methods through simulations.