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Sustainability
Article . 2022 . Peer-reviewed
License: CC BY
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Sustainability
Article . 2022
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A Cooperative Merging Control Method for Freeway Ramps in Connected and Autonomous Driving

Authors: Jiaxin Wu; Yibing Wang; Zhao Zhang; Yiqing Wen; Liangxia Zhong; Pengjun Zheng;

A Cooperative Merging Control Method for Freeway Ramps in Connected and Autonomous Driving

Abstract

The highway on-ramp merging area is one of the major sections that form traffic bottlenecks. In a connected vehicle environment, V2V and V2I technologies enable real-time exchange of information, including position, speed, and acceleration. To improve the efficiency of vehicle merging at the on-ramp, this study proposes a cooperative merging control strategy for network-connected autonomous vehicles. First, the central controller designs the merging sequence and safety space for vehicles passing through the confluence point. Then, a trajectory optimization model was constructed based on vehicle longitudinal dynamics, and the PMP algorithm was used to determine the optimal control input. Finally, all vehicles follow the optimal trajectory so that the ramp vehicles merge smoothly into the mainline. Simulations verify that the proposed algorithm performs better than FIFO, with 13.2% energy savings, 41.4% increase in average speed, and 50.4% reduction in travel time over the uncontrolled merging scenario. The method is further applied to different traffic flow conditions and the results show that it can significantly improve traffic safety and mobility, while effectively reducing vehicle energy consumption. However, the traffic operation improvement is not satisfactory under low traffic demand.

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Keywords

Environmental effects of industries and plants, TJ807-830, connected and automated vehicles, ramp merging control, TD194-195, Renewable energy sources, NGSIM, Environmental sciences, optimal control, connected and automated vehicles; ramp merging control; optimal control; NGSIM, GE1-350

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    This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
    9
    popularity
    This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
    Top 10%
    influence
    This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
    Average
    impulse
    This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
    Top 10%
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citations
This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Citations provided by BIP!
popularity
This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
BIP!Popularity provided by BIP!
influence
This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Influence provided by BIP!
impulse
This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
BIP!Impulse provided by BIP!
9
Top 10%
Average
Top 10%
gold
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Energy Research