A Hierarchical Model-Based Optimization Control Approach for Cooperative Merging by Connected Automated Vehicles - Chen, Na; van Arem, Bart; Alkim, Tom; Wang, Meng (IEEE transactions on intelligent transportation systems, 2021)
Keywords: Acceleration; Automation; Autonomous vehicles; Car following; Connected automated vehicles (CAVs); Control systems design; Controllers; Cooperative control; Highway access ramps; Initial conditions; Lane changing; Linear programming; merging sequence; on-ramp merging; Optimization; optimization control; Predictive control; Process control; Roads & highways; Traffic speed; Trajectory; Vehicle dynamics; Vehicles