Cooperative Merging Strategy of Multi-Mode Driving Vehicles in Expressway Merging Area under the New Mixed Traffic Conditions

This paper provides insight into the problem of multi-mode vehicles merging in the expressway merging area under the mixed traffic condition of intelligent connected vehicles and manual driving vehicles. From analysis of real road conditions, a multi-mode cooperative merging strategy considering a single connected trajectory optimization is proposed. First, a dynamic safety distance calculation model for on-ramp vehicles to merge on the main road is setup based on the vehicle information for both the outer lane of the main road and the on-ramp. Then, considering the rationality and feasibility of the cooperative merging of the two driving modes, the cooperative merging strategy of the multi-mode driving vehicles is constructed on the basis of setting the dedicated CAV lane and making full use of the acceleration lanes. Lastly, the effectiveness of the proposed cooperative merging strategy is verified with the SUMO simulation experiments.