Neuro-fuzzy control of converging vehicles for automated transportation systems

For an automated transportation system, like the PRT system or IVHS, an efficient vehicle-merging algorithm is required for smooth operation management of merging, collision avoidance between vehicles, ride comfort, and the effect on traffic should be considered. This paper proposes an unmanned vehicle merging algorithm that consists of two procedures. First, a longitudinal control algorithm is designed to keep a safe headway between vehicles in a single lane. Next, “vacant slot and ghost vehicle” concept is introduced and a decision algorithm is designed to determine the sequence of vehicles entering a converging section considering total traffic flow. The sequencing algorithm is based on fuzzy rules and the membership functions are determined first by an intuitive method and then trained by a learning method using neural net. The vehicle-merging algorithm is shown to be effective through simulations based on a PRT model