Model predictive control with a mixed integer programming for merging path generation on motor way

This paper proposes a path generation method using model predictive control for merging of automobiles on a motor way. The path generation problem is formulated as a mixed integer programming (MIP) problem. The method is implemented based on receding horizon philosophy. The MIP is solved at each step then a first element of the optimal input is applied to system. The point of the proposed method is that it can consider a feasibility of the merging. Computer simulation is carried out to show the effectiveness of the proposed control method. Furthermore it is shown that the feasibility analysis can be employed to the gap control using adaptive cruise control and lane change control.