Spatio-temporal cooperative control Method of Highway Ramp Merge Based on Vehicle-road Coordination

TL;DR

This paper presents a vehicle-road coordinated control method for highway ramp merging that pre-plans and shares trajectories to improve safety and efficiency by eliminating conflicts in the merging process.

Contribution

It introduces a mainline priority cooperation approach enabling real-time vehicle-road collaboration for spatiotemporal control during highway merges.

Findings

Enhanced safety through conflict elimination in merging zones

Improved traffic flow efficiency

Effective vehicle-road communication system implemented

Abstract

The merging area of highway ramps faces multiple challenges, including traffic congestion, collision risks, speed mismatches, driver behavior uncertainties, limited visibility, and bottleneck effects. However, autonomous vehicles engaging in depth coordination between vehicle and road in merging zones, by pre-planning and uploading travel trajectories, can significantly enhance the safety and efficiency of merging zones.In this paper,we mainly introduce mainline priority cooperation method to achieve the time and space cooperative control of highway merge.Vehicle-mounted intelligent units share real-time vehicle status and driving intentions with Road Section Management Units, which pre-plan the spatiotemporal trajectories of vehicle travel. After receiving these trajectories, Vehicle Intelligent Units strictly adhere to them. Through this deep collaboration between vehicles and roads, conflicts in time and space during vehicle travel are eliminated in advance.