快速路匝道入口智能网联车协同合并控制研究.

Aiming at the problem of traffic congestion in freeway on-ramp entrance under the condition of high traffic flow, this paper proposed a cooperative merging control solution of connected and automated vehicles（CAVs） at freeway on-ramp entrance, which divided the problem into two parts: multi-vehicle sequential decision making and vehicle motion planning. Multi-vehicle sequential decision making played an important role in traffic efficiency, so this paper proposed a multi-vehicle sequential decision algorithm based on the state evaluation model（SEM）, the algorithm first established the state space and initialization, considered the traffic efficiency and the vehicle delay design state evaluation function, select the optimal state through the state transition relationship, and finally got the optimal passing order by backtracking. According to the state of the vehicles and the time to reach the conflict point, the controller deduced the analytic solution of the longitudinal velocity of each vehicle in real time to realize the vehicle motion planning. Simulation and experiment results show that the solution can not only meet the real-time requirements of the traffic system, but also effectively improve the efficiency of freeway on-ramp entrance, shorten vehicle delay and reduce fuel consumption. [ABSTRACT FROM AUTHOR]