Merging Behavior Simulation of Vehicular Platoon

  • Eisuke KitaEmail author
  • Miichiro Yamada
  • Daisuke Ishizawa
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 75)


In vehicle platoon, vehicles travel in a row at short inter-vehicle distance in order to increase the traffic capacity and enhance the traffic safety. The aim of this study is to control velocity of the platoon vehicles when the platoon of two vehicles merges into the other platoon. The velocity control model is defined by means of the vehicle following model. The effectiveness of the model is discussed in the experiments of four LEGO MINDSTORM. The experimental result is compared with the simulation result. The results show that the trajectories of the vehicles in the platoon are similar both in experiment and in simulation although the vehicle movement in the experiment is delayed more than that in the simulation.


Traffic flow Vehicle following model Multi vehicle following model Vehicle robot 



Part of this research was supported by Japan Society for the Promotion of Science Scientific Research Fund (Basic Research (C) No.15K05760).


  1. 1.
    LEGO. Lego mindstorms education.
  2. 2.
    Helly, W.: Simulation of bottlenecks in single lane traffic flow. In: Theory of Traffic Flow Symposium, pp. 207–238 (1961)Google Scholar

Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  • Eisuke Kita
    • 1
    Email author
  • Miichiro Yamada
    • 2
  • Daisuke Ishizawa
    • 1
  1. 1.Graduate School of InformaticsNagoya UniversityNagoyaJapan
  2. 2.Graduate School of Information ScienceNagoya UniversityNagoyaJapan

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