Ramp merging represents a bottleneck scenario that causes traffic congestion, accidents, and increases emissions. Connected and Automated Vehicles (CAVs) can realize the coordinated control of ramp merging through vehicle-to- infrastructure (V2I) for relieving above problems. Considering the previous studies on centralized ramp merging only involved single mainline, this paper proposes a multi-lane centralized collaborative control strategy using cooperative game. First, the merging rules of different lanes of vehicles in the merging area are defined, so that the vehicles can achieve the cooperative merging safely. Second, driving efficiency, comfort, and fuel consumption in the merging control zone are used as the cost function. The best merging sequences of vehicles in different lanes are solved by cooperative game. Finally, analytical solution of longitudinal optimal control for all vehicles is obtained by applying the Pontryagin principle. The effectiveness of the proposed method is verified through simulation under random traffic conditions. Compared to other centralized control algorithms, it can significantly improve driving efficiency and reduce fuel consumption. At the same time, the applicability of the method is verified by comparing with ExiD datasets, and some advantages are obtained in terms of fuel consumption.
Multi-Lane Coordinated Control Strategy of Connected and Automated Vehicles for On-Ramp Merging Area Based on Cooperative Game
IEEE Transactions on Intelligent Transportation Systems ; 24 , 11 ; 13448-13461
2023-11-01
2640160 byte
Article (Journal)
Electronic Resource
English
Cooperative Ramp Merging Control for Connected and Automated Vehicles
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