SMART-Merge Planner: A Safe Merging and Real-Time Motion Planner for Autonomous Highway On-Ramp Merging
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arXiv
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| Format: | Preprint |
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2025
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| author | Mohammadnejad, Toktam D'sa, Jovin Chalaki, Behdad Mahjoub, Hossein Nourkhiz Moradi-Pari, Ehsan |
| author_facet | Mohammadnejad, Toktam D'sa, Jovin Chalaki, Behdad Mahjoub, Hossein Nourkhiz Moradi-Pari, Ehsan |
| contents | Merging onto a highway is a complex driving task that requires identifying a safe gap, adjusting speed, often interactions to create a merging gap, and completing the merge maneuver within a limited time window while maintaining safety and driving comfort. In this paper, we introduce a Safe Merging and Real-Time Merge (SMART-Merge) planner, a lattice-based motion planner designed to facilitate safe and comfortable forced merging. By deliberately adapting cost terms to the unique challenges of forced merging and introducing a desired speed heuristic, SMART-Merge planner enables the ego vehicle to merge successfully while minimizing the merge time. We verify the efficiency and effectiveness of the proposed merge planner through high-fidelity CarMaker simulations on hundreds of highway merge scenarios. Our proposed planner achieves the success rate of 100% as well as completes the merge maneuver in the shortest amount of time compared with the baselines, demonstrating our planner's capability to handle complex forced merge tasks and provide a reliable and robust solution for autonomous highway merge. The simulation result videos are available at https://sites.google.com/view/smart-merge-planner/home. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2507_10968 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | SMART-Merge Planner: A Safe Merging and Real-Time Motion Planner for Autonomous Highway On-Ramp Merging Mohammadnejad, Toktam D'sa, Jovin Chalaki, Behdad Mahjoub, Hossein Nourkhiz Moradi-Pari, Ehsan Robotics Systems and Control Merging onto a highway is a complex driving task that requires identifying a safe gap, adjusting speed, often interactions to create a merging gap, and completing the merge maneuver within a limited time window while maintaining safety and driving comfort. In this paper, we introduce a Safe Merging and Real-Time Merge (SMART-Merge) planner, a lattice-based motion planner designed to facilitate safe and comfortable forced merging. By deliberately adapting cost terms to the unique challenges of forced merging and introducing a desired speed heuristic, SMART-Merge planner enables the ego vehicle to merge successfully while minimizing the merge time. We verify the efficiency and effectiveness of the proposed merge planner through high-fidelity CarMaker simulations on hundreds of highway merge scenarios. Our proposed planner achieves the success rate of 100% as well as completes the merge maneuver in the shortest amount of time compared with the baselines, demonstrating our planner's capability to handle complex forced merge tasks and provide a reliable and robust solution for autonomous highway merge. The simulation result videos are available at https://sites.google.com/view/smart-merge-planner/home. |
| title | SMART-Merge Planner: A Safe Merging and Real-Time Motion Planner for Autonomous Highway On-Ramp Merging |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2507.10968 |