Safety-constrained vehicle platoon control: a ramp merging coordination method

In complex real-world traffic environments, ramp merging tasks pose significant challenges for platoon control systems. Conventional control methods often lack the flexibility required for coordinated platoon merging scenarios and fail to adequately address inter-vehicle safety constraints. Consequently, developing control strategies that satisfy safety constraints while ensuring precise merging coordination becomes imperative. This paper proposes a platoon safety-oriented merging control scheme for autonomous vehicles (AVs) within an optimal control framework. First, we systematically investigate the definition and selection methodology of merging strategies in platoon merging scenarios. Leveraging this approach, a platoon merging performance function is formulated, with merging sequences determined through comparative evaluation of strategy-specific performance metrics. Subsequently, the safety constraints and terminal merging conditions are incorporated into the performance index design via optimal control theory, transforming the merging coordination and safety assurance tasks into an optimal control problem. Finally, simulation results validate the proposed tracking control scheme, demonstrating its reliability and effectiveness through comprehensive performance analysis.