{"id":"https://openalex.org/W3211527493","doi":"https://doi.org/10.23919/icac50006.2021.9594261","title":"Automatic Lane Merge based on Model Predictive Control","display_name":"Automatic Lane Merge based on Model Predictive Control","publication_year":2021,"publication_date":"2021-09-02","ids":{"openalex":"https://openalex.org/W3211527493","doi":"https://doi.org/10.23919/icac50006.2021.9594261","mag":"3211527493"},"language":"en","primary_location":{"id":"doi:10.23919/icac50006.2021.9594261","is_oa":false,"landing_page_url":"https://doi.org/10.23919/icac50006.2021.9594261","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 26th International Conference on Automation and Computing (ICAC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://figshare.com/articles/conference_contribution/Automatic_lane_merge_based_on_model_predictive_control/16553097","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103111736","display_name":"Zhaolun Li","orcid":"https://orcid.org/0000-0003-2855-6935"},"institutions":[{"id":"https://openalex.org/I143804889","display_name":"Loughborough University","ror":"https://ror.org/04vg4w365","country_code":"GB","type":"education","lineage":["https://openalex.org/I143804889"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Zhaolun Li","raw_affiliation_strings":["Loughborough University, Loughborough, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Loughborough University, Loughborough, United Kingdom","institution_ids":["https://openalex.org/I143804889"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067934887","display_name":"Jingjing Jiang","orcid":"https://orcid.org/0000-0001-7754-9147"},"institutions":[{"id":"https://openalex.org/I143804889","display_name":"Loughborough University","ror":"https://ror.org/04vg4w365","country_code":"GB","type":"education","lineage":["https://openalex.org/I143804889"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jingjing Jiang","raw_affiliation_strings":["Loughborough University, Loughborough, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Loughborough University, Loughborough, United Kingdom","institution_ids":["https://openalex.org/I143804889"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100428822","display_name":"Wen\u2010Hua Chen","orcid":"https://orcid.org/0000-0003-3356-2889"},"institutions":[{"id":"https://openalex.org/I143804889","display_name":"Loughborough University","ror":"https://ror.org/04vg4w365","country_code":"GB","type":"education","lineage":["https://openalex.org/I143804889"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Wen-Hua Chen","raw_affiliation_strings":["Loughborough University, Loughborough, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Loughborough University, Loughborough, United Kingdom","institution_ids":["https://openalex.org/I143804889"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I143804889"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9995999932289124,"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"}},{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9990000128746033,"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":0.9965000152587891,"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/merge","display_name":"Merge (version control)","score":0.7289727926254272},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.65111243724823},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.609420895576477},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.5496450662612915},{"id":"https://openalex.org/keywords/fidelity","display_name":"Fidelity","score":0.4555557370185852},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.44597697257995605},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4443947672843933},{"id":"https://openalex.org/keywords/high-fidelity","display_name":"High fidelity","score":0.4186939001083374},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3900768756866455},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3794754147529602},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2968815565109253},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2534060478210449},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20438766479492188},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.12282004952430725},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10801377892494202}],"concepts":[{"id":"https://openalex.org/C197129107","wikidata":"https://www.wikidata.org/wiki/Q1921621","display_name":"Merge (version control)","level":2,"score":0.7289727926254272},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.65111243724823},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.609420895576477},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.5496450662612915},{"id":"https://openalex.org/C2776459999","wikidata":"https://www.wikidata.org/wiki/Q2119376","display_name":"Fidelity","level":2,"score":0.4555557370185852},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.44597697257995605},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4443947672843933},{"id":"https://openalex.org/C113364801","wikidata":"https://www.wikidata.org/wiki/Q26674","display_name":"High fidelity","level":2,"score":0.4186939001083374},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3900768756866455},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3794754147529602},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2968815565109253},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2534060478210449},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20438766479492188},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.12282004952430725},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10801377892494202},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C23123220","wikidata":"https://www.wikidata.org/wiki/Q816826","display_name":"Information retrieval","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.23919/icac50006.2021.9594261","is_oa":false,"landing_page_url":"https://doi.org/10.23919/icac50006.2021.9594261","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 26th International Conference on Automation and Computing (ICAC)","raw_type":"proceedings-article"},{"id":"pmh:oai:figshare.com:article/16553097","is_oa":true,"landing_page_url":"https://figshare.com/articles/conference_contribution/Automatic_lane_merge_based_on_model_predictive_control/16553097","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/16553097","is_oa":true,"landing_page_url":"https://figshare.com/articles/conference_contribution/Automatic_lane_merge_based_on_model_predictive_control/16553097","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","score":0.5899999737739563,"display_name":"Industry, innovation and infrastructure"}],"awards":[{"id":"https://openalex.org/G2563411182","display_name":null,"funder_award_id":"EP/T005734/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1511243153","https://openalex.org/W1592601589","https://openalex.org/W1874272059","https://openalex.org/W1967371255","https://openalex.org/W1987439218","https://openalex.org/W1999975684","https://openalex.org/W2001656150","https://openalex.org/W2005443352","https://openalex.org/W2024864274","https://openalex.org/W2038537670","https://openalex.org/W2076290341","https://openalex.org/W2077051712","https://openalex.org/W2109128004","https://openalex.org/W2114594320","https://openalex.org/W2120165114","https://openalex.org/W2134765105","https://openalex.org/W2165838995","https://openalex.org/W2192586580","https://openalex.org/W2199000878","https://openalex.org/W2411951812","https://openalex.org/W2515191420","https://openalex.org/W2517236235","https://openalex.org/W2525042068","https://openalex.org/W2537623947","https://openalex.org/W2577682579","https://openalex.org/W2884690226"],"related_works":["https://openalex.org/W4313443006","https://openalex.org/W2945374968","https://openalex.org/W4385452045","https://openalex.org/W4293777179","https://openalex.org/W2164070813","https://openalex.org/W2135608140","https://openalex.org/W2319626700","https://openalex.org/W3099598016","https://openalex.org/W4319589573","https://openalex.org/W2997614060"],"abstract_inverted_index":{"Autonomous":[0],"driving":[1],"has":[2,36,126,152],"been":[3,127,153],"regarded":[4],"as":[5,96],"the":[6,22,29,34,97,101,131,134,139,143,157,160],"most":[7,30],"promising":[8],"industry":[9],"since":[10],"last":[11],"decade.":[12],"Among":[13],"a":[14,41,70,105,117,147],"variety":[15],"of":[16,28,91,133,138,159],"functionalities":[17],"an":[18,51,122],"autonomous":[19,86],"vehicle":[20,92],"has,":[21],"automatic":[23,66],"merging":[24],"maneuver":[25,35],"is":[26,94,112],"one":[27],"challenging":[31],"ones":[32],"because":[33],"to":[37,64,129,155],"be":[38],"finished":[39],"in":[40,69,100,114],"dynamic":[42],"traffic":[43,72],"environment":[44,73],"within":[45],"limited":[46],"distance.":[47],"This":[48],"paper":[49],"proposes":[50],"integrated":[52],"path":[53],"planning":[54],"and":[55,84,146],"trajectory":[56],"tracking":[57],"algorithm":[58,102,145],"based":[59],"on":[60],"Model":[61],"Predictive":[62],"Control":[63],"achieve":[65],"lane":[67,118],"merge":[68],"mixed":[71],"with":[74,108,121],"traditional":[75],"vehicles":[76,83],"(controlled":[77],"purely":[78],"by":[79],"human":[80],"drivers),":[81],"semi-autonomous":[82],"fully":[85],"vehicles.":[87],"A":[88],"bicycle":[89],"model":[90,99,107],"dynamics":[93,111],"used":[95,128],"prediction":[98],"design,":[103],"while":[104],"high-fidelity":[106],"non-linear":[109],"tyre":[110],"employed":[113],"simulation.":[115],"Moreover,":[116],"selection":[119],"function":[120,125],"add-on":[123],"threshold":[124],"ensure":[130],"safety":[132],"maneuver.":[135],"The":[136],"comparison":[137],"simulation":[140],"results":[141],"between":[142],"proposed":[144,161],"bench-marked":[148],"two-layer":[149],"control":[150],"strategy":[151],"given":[154],"demonstrate":[156],"effectiveness":[158],"controller.":[162]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2022,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
