Dynamic Speed Guidance for CAV Ramp Merging in Non-Cooperative Environment: An On-Site Experiment

TL;DR

This paper presents a real-world experiment demonstrating a dynamic speed guidance system that uses roadside sensors to facilitate smooth ramp merging for connected and automated vehicles in non-cooperative environments, leading to fuel savings.

Contribution

It introduces a vehicle tracking and trajectory denoising algorithm utilizing roadside cameras and a dynamic speed guidance method for non-cooperative CAV ramp merging, validated through on-site experiments.

Findings

Significant fuel savings during ramp merging.

Effective vehicle trajectory and speed profile estimation.

Successful deployment in real-world highway conditions.

Abstract

Ramp merging is a typical application of cooperative intelligent transportation system (C-ITS). Vehicle trajectories perceived by roadside sensors are importation complement to the limited visual field of on-board perception. Vehicle tracking and trajectory denoising algorithm is proposed in this paper to take full advantage of roadside cameras for vehicle trajectory and speed profile estimation. Dynamic speed guidance algorithm is proposed to help on-ramp vehicles to merge into mainline smoothly, even in non-cooperative environment where mainline vehicles are not expected to slow down to accommodate on-ramp vehicles. On-site experiments were taken out in a merging area of Hangzhou Belt Highway to testify our prototype system, and simulation analysis shows our proposed algorithm can achieve significant fuel savings during the ramp merging process.