CONTROL METHOD OF MIXED TRAFFIC FLOW ON FREEWAY RAMP BASED ON CONTROLLABLE CONNECTED AND AUTONOMOUS VEHICLES (CAVs)

A control method of mixed traffic flow on freeway ramp based on controllable connected and autonomous vehicles (CAVs) is provided. A ramp is divided into a normal driving section, a vehicle platoon formation section and an accelerating and merging section. A vehicle platoon is formed by a leading CAV and human-driven vehicles (HDVs). Time interval [t, t] for the vehicle platoon to completely reach the merging point S is calculated. CAVs on the main lane and ramp are cooperatively controlled, and a merging gap is reserved for the ramp vehicle platoon. The vehicle platoon is allowed to accelerate and merge into the main lane. By means of the Internet-of-Vehicle (IoV) technology, the traffic situation on the main lane and downstream merging zone can be obtained in advance, and speeds of the CAVs are cooperatively controlled to lead the ramp vehicles to safely merge into the main lane.