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

摘要： 在高速公路车辆合流路段，匝道车辆若要安全、平稳合流到主车道，驾驶人往往面对 复杂的决策情况。驾驶人不当的操作容易造成对主线交通的强干扰，产生合流效率低下并且 安全性难以得到保障的问题。而智能网联技术的应用可有效改善此类问题。文章以咸阳境内 G70 福银高速为研究对象，根据从西张堡至乾陵四个收费站统计的交通流量建立了普通车辆 高速公路合流仿真模型；其次设计了一种基于约束二次规划和虚映射的智能网联车辆协同合 流策略；最后基于城市交通网络模拟（SUMO）对所提方法进行了验证。仿真结果表明，相 较于普通车辆合流测试环境，基于约束二次规划和虚映射的协同合流策略仿真模型使得合流 区速度提升约 9.15%，降低速度波动 47.3%，缩短合流区行程时间 8.81%。本研究成果可为未 来智能网联车辆在高速公路合流区的协同行驶策略提供参考。

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