Problem of autonomous vehicle platooning in an automated highway setting has drawn many attentions, both in academia and industry, during last two decades. This paper studies the problem of vehicle platooning with a particular focus on merging control algorithm when one or several vehicle(s) merge(s) from the adjacent lane into the main vehicle platoon under longitudinal control. Different longitudinal controllers have been compared. A practical novel multi-vehicle merge-in strategy and an adaptive lateral trajectory generation method have been proposed. The proposed approach is then tested and verified in our newly developed simulation platform SimPlatoon.

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