Cooperative Ramp Merging for Mixed Traffic with Connected Automated Vehicles and Human-Operated Vehicles

摘要

The rapid theoretical development and commercialization of connected automated vehicle (CAV) has led to the problem of mixed traffic, i. E., traffic mixed with CAVs and conventional human-operated vehicles (HVs). The paper studies cooperative ramp merging for mixed traffic. Using discrete optimization, a cooperative ramp merging mechanism is developed to facilitate ramp merging, and to properly capture the cooperative and non-cooperative behaviours in mixed traffic. The mechanism can be described as a bi-level optimization program in which the optimal control-based trajectory design problem is imbedded in the merge sequencing problem. A bi-level dynamic programming-based solution approach is developed to efficiently solve the problem. A micro-simulation environment is built for model validation and analysis of mixed traffic. The results show that cooperative ramp merging leads to larger throughput and smoother traffic.