{"id":"https://openalex.org/W4404035143","doi":"https://doi.org/10.1109/tcst.2024.3485306","title":"Model Predictive Control for Lane Merging Automation With Recursive Feasibility Guarantees and Its Experimental Validation","display_name":"Model Predictive Control for Lane Merging Automation With Recursive Feasibility Guarantees and Its Experimental Validation","publication_year":2024,"publication_date":"2024-11-04","ids":{"openalex":"https://openalex.org/W4404035143","doi":"https://doi.org/10.1109/tcst.2024.3485306"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2024.3485306","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2024.3485306","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Control Systems Technology","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://pure.tue.nl/ws/files/357784465/Model_Predictive_Control_for_Lane_Merging_Automation_With_Recursive_Feasibility_Guarantees_and_Its_Experimental_Validation.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5114126685","display_name":"Merlijne Geurts","orcid":"https://orcid.org/0009-0005-7689-0139"},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"M. E. Geurts","raw_affiliation_strings":["Department of Mechanical Engineering, Control Systems Technology, Eindhoven University of Technology, Eindhoven, The Netherlands"],"raw_orcid":"https://orcid.org/0009-0005-7689-0139","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Control Systems Technology, Eindhoven University of Technology, Eindhoven, The Netherlands","institution_ids":["https://openalex.org/I83019370"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083973713","display_name":"Alexander Katriniok","orcid":"https://orcid.org/0000-0003-1137-7885"},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"A. Katriniok","raw_affiliation_strings":["Department of Mechanical Engineering, Control Systems Technology, Eindhoven University of Technology, Eindhoven, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0003-1137-7885","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Control Systems Technology, Eindhoven University of Technology, Eindhoven, The Netherlands","institution_ids":["https://openalex.org/I83019370"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089873122","display_name":"Emilia Silva\u015f","orcid":"https://orcid.org/0000-0002-3038-7053"},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"E. Silvas","raw_affiliation_strings":["Department of Mechanical Engineering, Control Systems Technology, Eindhoven University of Technology, Eindhoven, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0002-3038-7053","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Control Systems Technology, Eindhoven University of Technology, Eindhoven, The Netherlands","institution_ids":["https://openalex.org/I83019370"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007525803","display_name":"Niels Brouwer","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"N. J. Brouwer","raw_affiliation_strings":["Department of Integrated Vehicle Safety, TNO, Helmond, The Netherlands"],"raw_orcid":"https://orcid.org/0009-0008-7098-7097","affiliations":[{"raw_affiliation_string":"Department of Integrated Vehicle Safety, TNO, Helmond, The Netherlands","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063241688","display_name":"W.P.M.H. Heemels","orcid":"https://orcid.org/0000-0003-3440-8007"},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"W. P. M. H. Heemels","raw_affiliation_strings":["Department of Mechanical Engineering, Control Systems Technology, Eindhoven University of Technology, Eindhoven, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0003-3440-8007","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Control Systems Technology, Eindhoven University of Technology, Eindhoven, The Netherlands","institution_ids":["https://openalex.org/I83019370"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.8571,"has_fulltext":true,"cited_by_count":10,"citation_normalized_percentile":{"value":0.85347698,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"33","issue":"2","first_page":"566","last_page":"581"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9947999715805054,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9947999715805054,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9815000295639038,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9796000123023987,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.8330856561660767},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.6840671896934509},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5901431441307068},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4867275059223175},{"id":"https://openalex.org/keywords/model-validation","display_name":"Model validation","score":0.41644665598869324},{"id":"https://openalex.org/keywords/reliability-engineering","display_name":"Reliability engineering","score":0.3479400873184204},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26256346702575684},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1852010190486908},{"id":"https://openalex.org/keywords/data-science","display_name":"Data science","score":0.08894956111907959}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.8330856561660767},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.6840671896934509},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5901431441307068},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4867275059223175},{"id":"https://openalex.org/C3019813237","wikidata":"https://www.wikidata.org/wiki/Q65089264","display_name":"Model validation","level":2,"score":0.41644665598869324},{"id":"https://openalex.org/C200601418","wikidata":"https://www.wikidata.org/wiki/Q2193887","display_name":"Reliability engineering","level":1,"score":0.3479400873184204},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26256346702575684},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1852010190486908},{"id":"https://openalex.org/C2522767166","wikidata":"https://www.wikidata.org/wiki/Q2374463","display_name":"Data science","level":1,"score":0.08894956111907959},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcst.2024.3485306","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2024.3485306","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Control Systems Technology","raw_type":"journal-article"},{"id":"pmh:oai:pure.tue.nl:publications/2c1a7684-96c0-4e1f-82f0-58f6f9b208ae","is_oa":true,"landing_page_url":"https://research.tue.nl/en/publications/2c1a7684-96c0-4e1f-82f0-58f6f9b208ae","pdf_url":"https://pure.tue.nl/ws/files/357784465/Model_Predictive_Control_for_Lane_Merging_Automation_With_Recursive_Feasibility_Guarantees_and_Its_Experimental_Validation.pdf","source":{"id":"https://openalex.org/S4406922641","display_name":"TU/e Research Portal","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Geurts, M E, Katriniok, A, Silvas, E, Brouwer, N J & Heemels, W P M H 2025, 'Model Predictive Control for Lane Merging Automation With Recursive Feasibility Guarantees and Its Experimental Validation', IEEE Transactions on Control Systems Technology, vol. 33, no. 2, 10742131, pp. 566-581. https://doi.org/10.1109/TCST.2024.3485306","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:pure.tue.nl:publications/2c1a7684-96c0-4e1f-82f0-58f6f9b208ae","is_oa":true,"landing_page_url":"https://research.tue.nl/en/publications/2c1a7684-96c0-4e1f-82f0-58f6f9b208ae","pdf_url":"https://pure.tue.nl/ws/files/357784465/Model_Predictive_Control_for_Lane_Merging_Automation_With_Recursive_Feasibility_Guarantees_and_Its_Experimental_Validation.pdf","source":{"id":"https://openalex.org/S4406922641","display_name":"TU/e Research Portal","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Geurts, M E, Katriniok, A, Silvas, E, Brouwer, N J & Heemels, W P M H 2025, 'Model Predictive Control for Lane Merging Automation With Recursive Feasibility Guarantees and Its Experimental Validation', IEEE Transactions on Control Systems Technology, vol. 33, no. 2, 10742131, pp. 566-581. https://doi.org/10.1109/TCST.2024.3485306","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321800","display_name":"Nederlandse Organisatie voor Wetenschappelijk Onderzoek","ror":"https://ror.org/04jsz6e67"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4404035143.pdf","grobid_xml":"https://content.openalex.org/works/W4404035143.grobid-xml"},"referenced_works_count":30,"referenced_works":["https://openalex.org/W1977985274","https://openalex.org/W2023599497","https://openalex.org/W2140154822","https://openalex.org/W2152511979","https://openalex.org/W2343568200","https://openalex.org/W2585477135","https://openalex.org/W2743819331","https://openalex.org/W2764280459","https://openalex.org/W2765221342","https://openalex.org/W2789916967","https://openalex.org/W2903304912","https://openalex.org/W2904937669","https://openalex.org/W2905161341","https://openalex.org/W2960145726","https://openalex.org/W2997064693","https://openalex.org/W3011459667","https://openalex.org/W3045905431","https://openalex.org/W3091936287","https://openalex.org/W3105161877","https://openalex.org/W3116294947","https://openalex.org/W3122875934","https://openalex.org/W3131079384","https://openalex.org/W3156861611","https://openalex.org/W3206862042","https://openalex.org/W4285054942","https://openalex.org/W4292072431","https://openalex.org/W4385299572","https://openalex.org/W4386615222","https://openalex.org/W4388918681","https://openalex.org/W4399700987"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W3202234113","https://openalex.org/W2101188133","https://openalex.org/W4248731570","https://openalex.org/W2381210024","https://openalex.org/W2060165215","https://openalex.org/W2384015130","https://openalex.org/W4285595274","https://openalex.org/W81137451","https://openalex.org/W2556120871"],"abstract_inverted_index":{"To":[0],"improve":[1],"on":[2],"road":[3],"safety":[4,95,104],"when":[5],"autonomous":[6,36],"vehicles":[7],"(AVs)":[8],"are":[9],"introduced":[10],"for":[11,25,143],"highway":[12],"or":[13],"urban":[14],"driving,":[15],"in":[16,76,125],"this":[17],"article,":[18],"we":[19,43,158],"design":[20,116],"an":[21,26],"automated":[22],"merging":[23,55,170],"algorithm":[24,154],"AV":[27],"into":[28,61],"a":[29,45,54,58,62,93,133],"mixed-traffic":[30],"flow":[31],"scenario":[32],"(i.e.,":[33,108],"traffic":[34],"including":[35],"and":[37,65,97,105,149,162],"manually":[38],"driven":[39],"vehicles).":[40],"In":[41],"particular,":[42],"propose":[44],"novel":[46],"model":[47],"predictive":[48],"control":[49,70],"(MPC)-based":[50],"solution":[51],"to":[52,103],"perform":[53],"procedure":[56],"from":[57],"double":[59],"lane":[60,64],"single":[63],"continue":[66],"with":[67,89,155],"(adaptive)":[68],"cruise":[69],"[(A)CC]":[71],"functionality":[72],"after":[73],"the":[74,87,115,126,153,164,167],"merge":[75],"one":[77],"integrated":[78],"algorithm.":[79],"The":[80,128],"proposed":[81,168],"MPC":[82,130,169],"balances":[83],"fast":[84],"progress":[85],"along":[86],"path":[88],"comfort,":[90],"while":[91],"obeying":[92],"state-dependent":[94],"distance":[96],"velocity":[98],"bounds.":[99],"Recursive":[100],"feasibility,":[101],"leading":[102],"proper":[106,118],"behavior":[107,161],"rigorously":[109],"satisfying":[110],"constraints),":[111],"is":[112,132],"guaranteed":[113],"by":[114],"of":[117,152,166],"terminal":[119,123],"sets,":[120],"extending":[121],"existing":[122],"sets":[124],"literature.":[127],"resulting":[129],"problem":[131],"mixed-integer":[134],"quadratic":[135],"program":[136],"(MIQP)":[137],"problem,":[138],"which":[139],"can":[140],"be":[141],"solved":[142],"global":[144],"optimality.":[145],"Through":[146],"numerical":[147],"simulations":[148],"experimental":[150],"validation":[151],"multibrand":[156],"cars,":[157],"demonstrate":[159],"desirable":[160],"verify":[163],"effectiveness":[165],"scheme.":[171]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1}],"updated_date":"2026-08-01T09:00:35.917206","created_date":"2025-10-10T00:00:00"}
