A control strategy for merging a single vehicle into a platoon at highway on-ramps

An important topic of research regarding cooperative platoons is merging vehicles into a platoon at highway on-ramps. This paper proposes control strategy for the single automated vehicle The proposed can handle large differences in initial positions and velocities, sensor noise, disturbances caused by leader. Furthermore, required controller transitions are designed such that switch between regular platooning maneuver easily be made all vehicles. validated using simulations. In simulation environment communication delays, leader have been included. compared to traditional shows clear improvement terms noise handling. behaves satisfactory considering safety, efficiency, passenger comfort, disturbance