Long Distance Merge based on Vehicle-infrastructure Communication

The vehicles merge from long distance are promising application direction, such as platoon, multi-agents rounding etc. This paper uses vehicle-infrastructure as information intermediary applied in the scenario that vehicle interior sensors cannot get information from other vehicles. Artificial potential field is constructed to converge the position of vehicles. Furthermore, first-order velocity consensus algorithm is deployed to reach the same speed. Simulation shows that distant driving vehicles can reliably achieve the position and velocity consensus. The existing infrastructure such as communication base station can easily handle the massive vehicles information exchange with low latency and cost compared to vehicles to vehicles(V2V) directed communication. Also, vehicles can avoid fall into local minimum of artificial potential field.