抄録
This paper proposes a trajectory generation method for merging of automobiles on a single-lane. The proposed method can consider a feasibility of the merging. The trajectory generation problem is formulated as a mixed integer programming (MIP) problem. The method is implemented based on receding horizon philosophy. The MIP is solved at each sampling instance then a first element of the optimal input is applied to system. Computer simulation is conducted to show the effectiveness of the proposed method. Furthermore it is shown that a design of the merging trajectory is possible by tuning of weights of the penalty functions.
