Decentralized On-Ramp Merging Control of Connected and Automated Vehicles in the Mixed Traffic Using Control Barrier Functions - Liu, Haoji; Zhuang, Weichao; Yin, Guodong; Li, Rongcan; Liu, Chang; Zhou, Shanxing (2021 IEEE International Intelligent Transportation Systems Conference (ITSC), 2021)
Keywords: Control Barrier Function; Cooperative Driving; Merging; Mixed Traffic; On-Ramp Merging; Optimal control; Real-time systems; Safety; Simulation; Stability analysis; Uncertainty