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This paper considers the theoretical part for longitudinal control of merging maneuver for an automated highway system. The longitudinal control problem for merging is proposed for different road layouts. Then a unified mathematical model is established and a new concept called virtual platooning is proposed, which effectively avoids a two point boundary value problem. Based on it, a rather general adaptive algorithm is provided and proved. This algorithm has been implemented and tested with automated cars.
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Lu et al. (2002) studied this question.
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