@inproceedings{01ecc5f8655b4224badae05a552efa33,
title = "A Cooperative Protocol for Vehicle Merging Using Bi-dimensional Artificial Potential Fields",
abstract = "In recent years, platooning solutions like cooperative adaptive cruise control (CACC) have been deeply studied. It is common in such platooning literature to assume that the vehicles drive on the same lane (longitudinal platooning). At the same time, lateral control during merging maneuvers is commonly addressed as a path planning problem, in which the ego vehicle changes the lane during merging without necessarily cooperating with its neighboring vehicles (i.e. without considering gap closing). The primary objective of this article is to develop a control strategy which involves both longitudinal and lateral vehicle dynamics, where the vehicles merge and form a platoon in a cooperative way without a priori path planning. Appropriately designed bi-dimensional artificial potential fields are used to achieve this goal and the proposed protocol is verified through simulations with CarSim.",
keywords = "Artificial potential fields, Lateral control, Longitudinal control, Merging maneuver, Platooning",
author = "Zhengqiang Liu and Di Liu and Wenwu Yu and Simone Baldi",
note = "Accepted Author Manuscript; 9th International Conference on Robot Intelligence Technology and Applications, RiTA 2021 ; Conference date: 16-12-2021 Through 17-12-2021",
year = "2022",
doi = "10.1007/978-3-030-97672-9_51",
language = "English",
isbn = "978-3-030-97671-2",
series = "Lecture Notes in Networks and Systems",
publisher = "Springer",
pages = "566--577",
editor = "Jinwhan Kim and Brendan Englot and Hae-Won Park and Han-Lim Choi and Hyun Myung and Junmo Kim and Jong-Hwan Kim",
booktitle = "Robot Intelligence Technology and Applications 6",
}