Real-time generation of cooperative merging trajectory on the motor way using model predictive control scheme

This paper is a tutorial for a path generation method during merging maneuver of automobile using a model predictive control scheme. Lanes of a motor way are approximated with proposed smooth lines. Assuming that the main lane vehicles run on the centerline of the main lane, an appropriate path of the merging vehicle can be simply designed and modified according to the motion of the main lane vehicles. A computer simulation of the merging maneuver of one merging vehicle and two main lane vehicles using actual merging data is conducted.