The Concept of Stimuli-Induced Equilibrium Point and Its Application in Ramp-Merging Control

In this paper, we propose the novel concept of stimuli-induced equilibrium point to synthesize the speed and position references for automatic on-ramp merging systems. Based on the psychological field theory, the intensity of the stimuli that act upon a driver between two vehicles in a three-vehicle platooning configuration is mathematically modeled to calculate a point at which the stimuli resultant becomes zero. This approach intends to mimic drivers' decision process when certain distance separation with respect to the leader and follower vehicles is attained for safety. The location of this point is continuously updated according to the speed of the middle vehicle and the current traffic scenario. Such stimuli-induced equilibrium point has shown to improve the performance of existing automatic merging control schemes while increasing safety conditions by providing enough reaction time for drivers to avoid an eventual collision.