Volume 23 Issue 6
Dec.  2023
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Article Navigation >  Journal of Traffic and Transportation Engineering  > 2023  >  23(6): 270-282
WANG Zheng-wu, PAN Jun-liang, CHEN Tao, HUA Xiao-yue. Cooperative merging control of connected and automated vehicles in merging area for one-way three-lane freeway[J]. Journal of Traffic and Transportation Engineering, 2023, 23(6): 270-282. doi: 10.19818/j.cnki.1671-1637.2023.06.018
Citation: WANG Zheng-wu, PAN Jun-liang, CHEN Tao, HUA Xiao-yue. Cooperative merging control of connected and automated vehicles in merging area for one-way three-lane freeway[J]. Journal of Traffic and Transportation Engineering, 2023, 23(6): 270-282. doi: 10.19818/j.cnki.1671-1637.2023.06.018
shu

Cooperative merging control of connected and automated vehicles in merging area for one-way three-lane freeway

doi: 10.19818/j.cnki.1671-1637.2023.06.018

  • School of Traffic and Transportation Engineering, Changsha University of Science and Technology, Changsha 410114, Hunan, China

Funds:

National Natural Science Foundation of China 52372296

Natural Science Foundation of Hunan Province 2023JJ30039

Science and Technology Progress and Innovation Project of Department of Transportation of Hunan Province 202140

Postgraduate Scientific Research Innovation Project of Hunan Province CX20220862

Science and Technology Planning Project of Changsha kh2301004

More Information
    Abstract
  • In order to improve the merging safety and traffic efficiency of connected and automated vehicles (CAVs) at multilane freeway on-ramps, a rule-based lane-changing strategy and a discrete-time vehicle trajectory optimization model were proposed to implement cooperative merging control. With the merging area for common one-way three-lane freeway ramps as the research object, the merging area and its upstream and downstream sections were divided into four areas, and traffic control was carried out in the key lane-changing area and cooperative merging area. In the upstream lane-changing area, based on the lane change rules of minimum safe following headway and speed benefit, the vehicles in the outer lane and the middle lane of part of the mainline could change to the adjacent inner lanes in the upstream of the merging area in advance, so as to reduce the traffic pressure on the outer lane of the merging area and improve the merging efficiency. In the downstream cooperative merging area, the appropriate cycle time was chosen. With the maximum speed of merging vehicles during the cycle time as the goal, the longitudinal trajectory of the merging vehicle was planned without a fixed merging point, and the ramp vehicles were guided to merge into the mainline at the end of the cycle, so as to realize cooperative merging. The cooperative merging control method was verified by SUMO and Python simulation, and the sensitivity analysis of critical car-following headway was conducted. Simulation results show that compared with uncontrolled natural merging, the proposed cooperative merging control method can increase the average speed of vehicles by 4.9%-21.1% and reduce the average delay of vehicles by 29.9%-56.5% under different traffic demand levels, and it ensures that no vehicle stops. Compared with first-in first-out merging control, the proposed cooperative merging control method can increase the average speed of vehicles by 3.4%-9.6% and reduce the average delay of vehicles by 22.9%-39.4% under high ramp traffic demand levels. Furthermore, the lower critical car-following headway can improve the traffic efficiency in the merging area, and it is more obvious under the high demand level of mainline traffic.

     

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