摘要：AbstractThis paper presents a solution to the vehicle merging problem using distributed controllers. In order to guarantee collision avoidance, a state feedback law is utilised to generate externally positive dynamics for the controlled vehicles. These vehicles are temporarily connected via a communication network that enables them to exchange information. The networked control scheme handles the lane switching scenario with a feed-forward control law to create a gap for the lane changing vehicle. It is shown that the proposed controllers guarantee a collision-free vehicle merging.
