Abstract

This paper proposes a traffic coordination method for achieving the smooth merging of partially connected vehicles on ramp roads. The method is based on pseudo-perturbation-based broadcast control (PBC), which optimizes the states of multiple agents to minimize an objective function. The PBC law works with a low communication volume because an identical signal is sent to agents indiscriminatingly and there is no agent-agent communication. This communication has an advantage over commonly used unicast communication in terms of the communication volume. The PBC law is extended to realize the smooth merging by addressing two obstacles.

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