This report presents the work on the development of the regulation layer for automated merging. It includes system modeling, control system synthesis, theoretical analysis and real-rime implementation and field test. The essential part is a rather general adaptive merging algorithm. Key words: automated highway systems, advanced vehicle merging maneuvers, automated vehicle merging maneuvers, longitudinal control, speed control, distance control, vehicle platooning, virtual platooning, adaptive realtime merging algorithm, back-stepping control, magnet distance measurement
