Integrated Motion Planning for On-Ramp Merging Based on Stackelberg Game Modeling Considering Interactive Characteristics

• Published in: IEEE transactions on vehicular technology Vol. 74; no. 8; pp. 11762 - 11776
• Main Authors: Zhang, Lei, Zheng, Jiacheng, Zhang, Zhiqiang, Wang, Zhenpo, Wang, Mingqiang
• Format: Journal Article
• Language: English
• Published: IEEE 01.08.2025
• Subjects: decision making; Diversity reception; Game theory; Games; Merging; Planning; Space vehicles; Training; Trajectory; Trajectory planning; Vehicle safety

Efficient and safe on-ramp merging is crucial for mitigating traffic congestion and enhancing vehicle safety. In this paper, an integrated framework for decision-making and trajectory planning in on-ramp merging scenarios is proposed. First, adequate longitudinal spacing can be established by adjust...