Abstract
Merging task is one of complex tasks at the highway junction or interchange. The merging car should be controled taking account not only with the safery condition but also with the drivers driving on main lane to realize a harmonization among all related drivers and ADAS systems. In previous research, authors presented the decision making modeling of the driver driving on main lane to estimate if he/she accepts the merging. This study proposes the realtime prediction method of the acceptance state of the main lane drivers by using model predictive control framework based on the obtained model.
