Cooperative Group Control Strategy in the on-Ramp Area for Connected and Automated Vehicles under Mixed Traffic Environment

To improve the traffic efficiency of mixed traffic in the context of vehicles merging at the main lane and on-ramp intersection, this study proposes a cooperative control strategy consisting of the merging sequence for multi-subgroups and vehicle group control. Besides, a technology framework of centralized planning and distributed control is utilized to implement the proposed cooperative merging strategy. In particular, the game approach is used to generate the optimal cooperative merging sequence in the road-side unit (RSU) of centralized planning. Then, the appointed leading connected and automated vehicles (CAVs) of subgroups will respectively follow the commands by the proposed vehicle group control method under the merging area. The simulation results show that the proposed control strategy can reduce the travel time and fuel consumption, and improve the comfort of passengers.