Automotive longitudinal speed pattern generation with acceleration constraints aiming at mild merging using model predictive control method. - Wenjing Cao; Masakazu Mukai; Taketoshi Kawabe; Hikaru Nishira; Noriaki Fujiki (ASCC, 2013)

Merging trajectory generation for vehicle on a motor way using receding horizon control framework consideration of its applications. - Wenjing Cao; Masakazu Mukai; Taketoshi Kawabe; Hikaru Nishira; Noriaki Fujiki (CCA, 2014)