Automated On-Ramp Merging System for Congested Traffic Situations - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Journal Articles IEEE Transactions on Intelligent Transportation Systems Year : 2011

Automated On-Ramp Merging System for Congested Traffic Situations


Traffic merging in urban environments is one of the main causes of traffic congestion. From the driver's point of view, the difficulty arises along the on-ramp where the merging vehicle's driver has to discern whether he should accelerate or decelerate to enter the main road. In parallel, the drivers of the vehicles already on the major road may have to modify their speeds to permit the entrance of the merging vehicle, thus affecting the traffic flow. This paper presents an approach to merging from a minor to a major road in congested traffic situations. An automated merging system that was developed with two principal goals, i.e., to permit the merging vehicle to sufficiently fluidly enter the major road to avoid congestion on the minor road and to modify the speed of the vehicles already on the main road to minimize the effect on that already congested main road, is described. A fuzzy controller is developed to act on the vehicles' longitudinal control--throttle and brake pedals--following the references set by a decision algorithm. Data from other vehicles are acquired using wireless vehicleto- infrastructure (V2I) communication. A system installed in the infrastructure that is capable of assessing road traffic conditions in real time is responsible for transmitting the data of the vehicles in the surrounding area. Three production vehicles were used in the experimental phase to validate the proposed system at the facilities of the Centro de Automática y Robótica with encouraging results.
Fichier principal
Vignette du fichier
Automated_On-Ramp_Merging_System_for_Congested_Traffic_Situations.pdf (1.28 Mo) Télécharger le fichier
Origin : Publisher files allowed on an open archive

Dates and versions

hal-00737629 , version 1 (02-10-2012)


  • HAL Id : hal-00737629 , version 1


Vicente Milanés, Jorge Godoy, Jorge Villagra, Joshué Pérez Rastelli. Automated On-Ramp Merging System for Congested Traffic Situations. IEEE Transactions on Intelligent Transportation Systems, 2011. ⟨hal-00737629⟩
51 View
1069 Download


Gmail Facebook X LinkedIn More