2022/12/21 by Wei Ji, Yechi Ma, Ji, Wei +7
Engineering · #Autonomous Vehicle Technology and Safety #FOS: Computer and information sciences #Robotics (cs.RO) #Traffic control and management #Vehicle emissions and performance
paper · pdf · doi:10.48550/arxiv.2212.12418
openalex publication_date 2022/12/21 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Ramp merging is a typical application of cooperative intelligent transportation system (C-ITS). Vehicle trajectories perceived by roadside sensors are importation complement to the limited visual field of on-board perception. Vehicle tracking and trajectory denoising algorithm is proposed in this paper to take full advantage of roadside cameras for vehicle trajectory and speed profile estimation. Dynamic speed guidance algorithm is proposed to help on-ramp vehicles to merge into mainline smoothly, even in non-cooperative environment where mainline vehicles are not expected to slow down to accommodate on-ramp vehicles. On-site experiments were taken out in a merging area of Hangzhou Belt Highway to testify our prototype system, and simulation analysis shows our proposed algorithm can achieve significant fuel savings during the ramp merging process.