Program Results

Introduction to the event

Vehicle platoon merging is challenging due to varying speeds, gap estimation errors, and synchronization issues. Heterogeneous controllers developed by different designers or companies further cause mismatches in control dynamics, resulting in inconsistent acceleration responses, unstable gap spacing, and unpredictable behaviors that negatively impact user comfort and safety. The research team investigates the merging performance of controller combinations, pairing five controllers and testing them across three merging scenarios. The research team identifies key trade-offs: mismatches between reactive and predictive controllers often lead to higher jerk, and some joining controllers experience elevated jerk during merging with braking disturbances, resulting in poor comfort. To address these issues, the research team proposes an adaptive transitory controller, an assistance module for the joining platoon leader, that enhances compatibility with various preceding controllers and merging scenarios. Results show consistent performance and improvement in user comfort while maintaining gap safety.