关键词: 智能网联车辆；协同合流策略；二次规划；虚映射；轨迹优划

Abstract: In the merging sections of expressways, drivers often face complex decision-making situations if they want to safely and smoothly merge into the main lane from the ramp. Improper operations by drivers can easily cause significant interference to the main traffic flow, leading to issues with merging safety and efficiency. The application of intelligent connected technology can effectively improve such problems. This paper takes the G70 Fuyin expressway within Xianyang as the research subject and establishes a simulation model for general vehicle merging on highways based on traffic flow statistics from four toll stations from Xizhangbao to Qianling. Secondly, an intelligent connected vehicle cooperative merging strategy based on constrained quadratic programming and virtual mapping is designed. Finally, the proposed method is verified using simulation of urban mobility (SUMO). Simulation results show that, compared to the general vehicle merging test environment, the cooperative merging strategy simulation model based on constrained quadratic programming and virtual mapping increases the speed in the merging area by approximately 9.15%, reduces speed fluctuations by 47.3%, and shortens the travel time in the merging area by 8.81%. The findings of this study can provide a reference for future cooperative driving strategies for intelligent connected vehicles in highway merging areas.

Key words: intelligent connected vehicles; cooperation merging strategy; quadratic programming; virtual mapping; trajectory optimization