^{1}, Yuki Yoshida

^{1}, Tatsuhiro Tamaki

^{2}

^{1}Nagoya Univesity,

^{2}National Institute of Technology, Okinawa

In this study, the velocity control models of self-driving vehicles in vehicle platoons are studied when two platoons of two vehicles merge to one platoon. The velocity control is defined by means of the vehicle following models including vehicle-to-vehicle distance and the velocity differences. The model parameters are designed to minimize the three types of objective functions. Three objective functions are summarized as follows; the first is related to the overshoot of velocity, the second is to the vehicle-to-vehicle distance and the third is to the vehicle-to-vehicle distance and the acceleration. The effectiveness of models is compared in the experiment of LEGO MINDSTORM EV3. The results show that the objective function related to the velocity suppresses the excess amount of velocity and tends to be slow response, and that the objective function related to vehicle-to-vehicle distance produces a large excess amount and, however, shows a quick response result. Therefore, the parameters determined from the second and the third objective functions are better than that from the first one.