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

doi: 10.3390/su141811120
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.
- Zhejiang Ocean University China (People's Republic of)
- Zhejiang Ocean University China (People's Republic of)
- Ningbo University China (People's Republic of)
- Ningbo University China (People's Republic of)
- Beihang University China (People's Republic of)
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
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
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).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%
