Cooperative merging control of multiple connected and automated vehicles on freeway ramp

被引：0
作者：
Liu C. [1 ]
Zhuang W. [1 ]
Yin G. [1 ]
Huang Z. [1 ]
Liu H. [1 ]
机构：
[1] School of Mechnical Engineering, Southeast University, Nanjing
来源：
Yin, Guodong (ygd@seu.edu.cn) | 1600年 / Southeast University卷 / 50期
关键词：
Connected and automated vehicles; Cooperative merging; Optimal control; Vehicle trajectory planning;
D O I：
10.3969/j.issn.1001-0505.2020.05.024
中图分类号：
学科分类号：
摘要：
To improve the safety and the efficiency of vehicle merge at freeway ramp and reduce the fuel consumption, an optimal longitudinal trajectory planning method for multiple connected and automated vehicles facing freeway ramp was proposed to realize the vehicle cooperative merge. First, the vehicle longitudinal dynamics model was established, and the cost function of energy efficiency and ride comfort was considered to construct the optimal vehicle speed control problem on the on-ramp. Based on the first-in, first-out(FIFO) merging sequence, the time and the time interval of each adjacent vehicle arriving at merging point were designed to realize safe and efficient cooperative merge. The optimal vehicle speed control problem was solved by using Pontryagin's minimum principle, and the optimal analytical solution of each vehicle longitudinal speed was derived. The simulation results show that compared with uncontrolled natural merge, the traffic time and the fuel consumption of the proposed control method are reduced by 41.64% and 12.25%, respectively. Compared with the existing control method based on virtual queue, the traffic efficiency difference is 1.67% and the fuel consumption is reduced by 4.52%. © 2020, Editorial Department of Journal of Southeast University. All right reserved.
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页码：965 / 972
页数：7
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