Vehicle cooperative merging optimization model and method based on vehicle-road collaboration

Abstract

The present invention relates to the field of intelligent driving technology, and discloses a vehicle cooperative merging traffic optimization model based on vehicle-road collaboration and a method thereof, comprising the following steps: step 1, judging the two-stage communication capability of the current merging scene, and determining the vehicles with cooperative driving capability in the merging scene; step 2, when the maximum waiting time does not exceed the time threshold, guiding the merging vehicle to wait or pass; when the maximum waiting time exceeds the time threshold, guiding the trunk road vehicle to change lanes in the same direction; step 3, when the traffic volume does not exceed the congestion threshold, guiding the vehicle in the innermost lane of the trunk road vehicle and the merging vehicle to cooperate in merging; when the traffic volume exceeds the congestion threshold, guiding the lane change of the same direction lane in the trunk road vehicle. The present invention can make full use of the V2X two-stage communication function to guide the efficient and safe merging of ramp vehicles, which helps to alleviate the ramp congestion problem, improve the merging efficiency, and reduce the merging risk.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving technology, and in particular to a vehicle cooperative merging traffic optimization model based on vehicle-road collaboration and a method thereof. Background Art

[0002] As the main artery of highway traffic, expressways play an increasingly important role in the development of the national economy. However, the composition of vehicles running on highways is complex, the performance varies greatly, and the mutual interference between mixed traffic is relatively large. In sections with the same road conditions, the proportion of vehicle types in mixed traffic is also different. The dangerous driving behaviors induced by the differences in vehicle driving characteristics have increased sharply, leading to frequent traffic accidents. Like the main line of the highway, the ramp is also a high-probability area for traffic accidents, and its driving safety issues are affected by many factors. In recent years, at the entrance ramps of highways or expressways, traffic accidents have occurred frequently due to the wrong timing of ramp vehicles merging into the ramp, or the main lane has a large traffic volume and is difficult to merge into, and the main lane is congested after the ramp vehicles merge into the ramp.

[0003] With the development of vehicle communication and autonomous driving technology, the possibility of preventing or mitigating this adverse traffic impact in the ramp merging area already exists. Some existing traffic management systems can optimize the merging behavior in combination with perception information, that is, the system dynamically adjusts the timing of traffic signals based on the real-time position and flow information of vehicles and pedestrians to adapt to the current traffic conditions. The basic principle is: first, data collection of information such as the real-time position, speed and flow of vehicles and pedestrians is carried out, and then the collected data is processed and analyzed, and traffic signals are optimized according to the analysis results. Finally, the system can respond to changes in traffic conditions in real time and continuously optimize and adjust according to new data to adapt to changes in traffic flow. However, the existing technology does not take into account the characteristics of V2X two-stage communication and rarely considers the coordination of vehicles between the same-direction lanes of the main road. Therefore, the coordination efficiency and safety improved by the existing technical solutions are relatively low. Summary of the invention

[0004] The present invention aims to provide a vehicle cooperative merging traffic optimization model based on vehicle-road collaboration and its method, which can make full use of the V2X second-stage communication function to guide the efficient and safe merging of ramp vehicles, help alleviate ramp congestion problems, improve merging efficiency, and reduce merging risks.

[0005] To achieve the above objectives, the present invention provides the following basic solutions.

[0006] Solution 1

[0007] The vehicle cooperative merging traffic optimization method based on vehicle-road collaboration includes the following steps:

[0008] Step 1: determine the second-stage communication capability of the current merging scene and determine the vehicles in the merging scene that have cooperative driving capabilities;

[0009] Step 2, calculate the maximum waiting time of the merging scene and set a time threshold; when the maximum waiting time does not exceed the time threshold, the RSU sends a first guidance message to guide the merging vehicle to wait or pass; when the maximum waiting time exceeds the time threshold, the RSU sends a second guidance message to guide the trunk road vehicle to change lanes in the same direction;

[0010] Step 3, calculate the congestion level and traffic volume of the target lane of the main road in the merging scenario, and set the congestion threshold; when the traffic volume does not exceed the congestion threshold, the vehicle in the innermost lane of the main road vehicles and the merging vehicle are guided to merge in a collaborative manner; when the traffic volume exceeds the congestion threshold, lane change guidance is performed on the same-direction lanes of the main road vehicles, and the vehicle in the innermost lane is moved to the outer same-direction lane.

[0011] Solution 2

[0012] A vehicle cooperative merging traffic optimization model based on vehicle-road collaboration is used to execute the vehicle cooperative merging traffic optimization method based on vehicle-road collaboration as described in Scheme 1; it includes a judgment unit and a processing unit; the judgment unit is used to judge the second-stage communication capability of the current merging scene, and determine the vehicles with cooperative driving capability in the merging scene;

[0013] The processing unit is used to calculate the maximum waiting time of the merging scene and set a time threshold; when the maximum waiting time does not exceed the time threshold, the RSU is controlled to send a first guidance message to guide the merging vehicle to wait or pass; when the maximum waiting time exceeds the time threshold, the RSU is controlled to send a second guidance message to guide the trunk road vehicle to change lanes in the same direction;

[0014] In the merging scenario, the congestion level and traffic volume of the target lane of the main road are calculated, and the congestion threshold is set; when the traffic volume does not exceed the congestion threshold, the vehicles in the innermost lane of the main road and the merging vehicles are guided to merge in a collaborative manner; when the traffic volume exceeds the congestion threshold, lane change guidance is performed for the same-direction lanes of the main road vehicles, and the vehicles in the innermost lane are moved to the outer same-direction lanes.

[0015] The working principle and advantages of the present invention are:

[0016] First, this solution fully considers the characteristics of two-stage communication. First, it judges the two-stage communication capability of the merging scene, and confirms in advance which vehicles can participate in cooperative driving, which can ensure the safety and reliability of the overall communication and collaborative process. Second, this solution provides a new collaborative merging strategy, which fully considers multi-dimensional scene information and can achieve the best merging optimization effect through collaboration. Among them, by calculating the maximum waiting time of the merging scene and setting the time threshold, it can ensure that ramp vehicles (i.e. merging vehicles) can merge into the main road within a limited and short time, which can effectively reduce the congestion time of ramp vehicles. By calculating the congestion level and traffic volume of the target lane of the main road in the merging scene, and guiding the collaborative lane change between the same-direction lanes of the main road, it not only ensures the traffic efficiency of the main road, but also ensures the timely merging of ramp vehicles, reducing the driving risk and congestion waiting time during merging. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of the interaction process of an embodiment of a vehicle cooperative integration traffic optimization model and a method thereof based on vehicle-road collaboration of the present invention;

[0018] Figure 2 A schematic diagram of a vehicle cooperative merging traffic scenario according to an optimization model for vehicle cooperative merging traffic based on vehicle-road collaboration and an embodiment of a method thereof of the present invention;

[0019] Figure 3 It is a first effect comparison diagram of a comparative example of an embodiment of a vehicle cooperative integration traffic optimization model and a method thereof based on vehicle-road collaboration of the present invention;

[0020] Figure 4 This is a second effect comparison diagram of a comparative example of an embodiment of the vehicle cooperative integration traffic optimization model and method thereof based on vehicle-road collaboration of the present invention. DETAILED DESCRIPTION

[0021] The following is a further detailed description through specific implementation methods.

[0022] The embodiment is basically as shown in the attached Figure 1 As shown: The vehicle cooperative merging optimization method based on vehicle-road collaboration includes the following steps:

[0023] Step 1: determine the second-stage communication capability of the current merging scene and determine the vehicles with cooperative driving capability in the merging scene. The merging scene includes the entrance ramp merging scene of a highway or expressway, such as Figure 2 shown.

[0024] In this step, the second-stage communication capability of the current imported scene is determined, including the following steps:

[0025] For the RSU (roadside unit) in the merging scene, the RSU sends an RSC empty message at a frequency of 1Hz; for the vehicles in the merging scene, the OBU (on-board unit) of the HV (host vehicle) and RV (remote vehicle) sends a VIR empty message at a frequency of 1Hz. Among them, RSC refers to the roadside coordination message; VIR refers to the vehicle intention and request.

[0026] When the receiving unit receives the RSC empty message and the VIR empty message, it is considered that the RSU or vehicle that sent the message has the second-stage communication capability.

[0027] Moreover, when the collaboration is triggered, the frequency of each unit sending key data sets is adjusted to 10Hz. After the collaboration ends, the empty messages are restored to 1Hz. Specifically, the triggering and ending of collaboration are determined as follows: when there are other vehicles or RSUs with two-stage traffic capability in the scene, the collaboration is triggered; when there are no other vehicles or RSUs in the scene, the collaboration ends.

[0028] Step 2, calculate the maximum waiting time of the merging scene and set the time threshold; when the maximum waiting time does not exceed the time threshold, the RSU sends the first guidance information to guide the merging vehicle to wait or pass; when the maximum waiting time exceeds the time threshold, the RSU sends the second guidance information to guide the main road vehicle to change lanes in the same direction.

[0029] Here, the maximum waiting time is t max (i.e. the slowest time t obtained by subsequent calculation max ); the time threshold is set according to the specific merging scenario, specifically, it can be set according to the vehicle waiting data at the ramp in this merging scenario and the overall waiting time of the vehicles at the ramp.

[0030] Specifically, in this step, it is first determined whether the vehicle has the intention to merge, and if so, the timing of the vehicle merging is determined; the timing of the vehicle merging includes direct merging and stopping and waiting. Here, the first guidance information corresponds to the guidance information for determining whether the vehicle merging timing is direct merging or stopping and waiting. The second guidance information and the specific guidance steps correspond to the content in step 3.

[0031] Moreover, after the determination of the vehicle's merging timing is completed, if there is a traffic light in the merging scene, the traffic light is also controlled; when the vehicle's merging timing is a direct merging, the traffic light is controlled to display a green light; when the vehicle's merging timing is a stop and wait, the traffic light is controlled to display a red light until the vehicle's merging timing is switched to a direct merging.

[0032] When judging whether a vehicle has the intention to merge, the following steps are included: In the merging scenario, if the HV recognizes that there are vehicles around it that are in the same node section as itself, but not in the same section; and the HV itself or one of the vehicles around it is currently on the ramp; and the distance between the two to the node is less than 100m, it is determined that the vehicle on the ramp has the intention to merge and is about to merge into the main road. At this time, the vehicle sends a VIR message to the RSU at a frequency of 10Hz. Among them, the content of the VIR message includes: currentBehavior = merge, reqs = laneChange, requested status = request, target lane = the ID of the lane closest to the main road and the merging point, as shown in Appendix 1.

[0033] Table 1 VIR message sent by vehicles on the ramp to RSU

[0034]

[0035]

[0036] When determining the time for a vehicle to merge, the fastest time t for the vehicle to reach the merge entrance is calculated based on the VIR message sent by the vehicle on the ramp. min and the slowest time t max ; and the time t0 when it reaches the confluence entrance at the current driving speed; where t max =t0+3; t min =s / v max ; s is the distance from the current point to the confluence point, v max The maximum speed allowed on the current road.

[0037] If the time t at which the trunk road vehicle arrives at the merging point r Not in min ,t max ] interval, or, t r If the time is ≥3s, the vehicle is judged to merge directly, otherwise, the vehicle is judged to merge at a waiting time; and the RSU sends an RSC message to the vehicle on the ramp, as shown in Appendix 2. In addition, the RSU also sends an RSC message to the vehicle on the main road, as shown in Appendix 3.

[0038] Table 2 RSC message sent by RSU to vehicles on the ramp

[0039]

[0040] Table 3 RSC message sent by RSU to vehicles on the main road

[0041]

[0042]

[0043] When merging directly, the vehicle on the ramp receives the RSC message and moves at the speed v in the recommended path planning. h and route travel to ensure that r appears at the entrance at the moment; r The recommended validity period for RSC messages; Among them, s is the distance from the current point to the confluence point, l hv is the length of the vehicle on the ramp, l rv The length of vehicles on main roads.

[0044] The RSC message here contains the recommended path planning, which mainly includes speed information and route information, where the speed is v h , the route is the collaborative import route performed by step 2 and the subsequent step 3.

[0045] In this embodiment, when the vehicle on the ramp arrives at the entrance, the RSC message changes to VehicleCoordination = Vehicle Coordination In, where driveSuggestion = In, and the validity period of the suggestion is 5s, that is, t r = 5s. The vehicle is at t r Appear at the merging entrance at the moment, and the driver or the automatic driving controller completes the lane change and merging in the acceleration lane.

[0046] When the vehicle merges at the right time, the vehicle on the ramp reaches the merge entrance at the current speed and stops to wait. The RSU sends an RSC message to the vehicle, which contains VehicleCoordination = Vehicle Cooperative Merge, driveSuggestion = Temporary Parking, and the validity period of the suggestion is t1, and t1 is the maximum waiting time (i.e., t max ).

[0047] Step 3, calculate the congestion level and traffic volume of the target lane of the main road in the merging scenario, and set the congestion threshold; when the traffic volume does not exceed the congestion threshold, the vehicle in the innermost lane of the main road vehicles and the merging vehicle are guided to merge in a collaborative manner; when the traffic volume exceeds the congestion threshold, lane change guidance is performed on the same-direction lanes of the main road vehicles, and the vehicle in the innermost lane is moved to the outer same-direction lane.

[0048] Specifically, when judging the relationship between the degree of congestion, traffic flow and congestion threshold, the distance between vehicles in the lane adjacent to the merging lane on the main road is calculated based on the RSU's perception data and the received vehicle BSM information (Basic Safety Message); and the degree of traffic flow saturation is judged based on the current traffic flow and traffic capacity, and it is determined whether the innermost lane of the main road exceeds the congestion threshold.

[0049] In this embodiment, if the distance between the next vehicle (hereinafter referred to as RV) that is about to arrive at the merging entrance and the vehicle behind it is ≥30m among the vehicles on the main road at the current moment, it is determined that the traffic volume does not exceed the congestion threshold. That is, the vehicle on the ramp (hereinafter referred to as HV) can merge in the gap between the RV and the vehicle behind it. In this case, the HV can start in advance, accelerate in the acceleration lane until it meets the RV and is overtaken by the RV, and then merge in. During this process, the RSU needs to send an RSC message to the HV to assist the HV in completing the merging.

[0050] When the above conditions are not met, that is, the traffic volume exceeds the congestion threshold, and the waiting time is greater than t1, that is, the congestion level of the innermost lane of the main road exceeds the congestion threshold, and the traffic volume is saturated, then the lane change guidance of the same-direction lane of the main road vehicles is carried out, and the vehicles in the innermost lane are moved to the outer same-direction lane to ensure the traffic capacity of the innermost lane and the ramp merging capacity. That is, RV1 and RV2…RV n Coordinated lane change is performed, that is, the outer lane vehicle and the inner lane RV are at the same node section, and the vehicle behind the RV slows down to allow the RV in the innermost lane to change to the outer lane. This can leave space for the vehicles on the ramp to merge.

[0051] In the above process, considering that the HV has an acceleration process when starting from a stop state, it is assumed that the starting time is 2S. The HV needs to start in advance so that the longitudinal distance is closer to the RV when entering the acceleration lane.

[0052] Since the information transmission between RV and RSU can only be completed within a certain distance, it is assumed that RSU sends RSC cooperation information to HV 5s before RV arrives at the sink. After removing the starting time 2S, compared with the time t α , HV needs to be α The HV is already in the acceleration lane when it starts 3 seconds before the start of the HV. Assuming that the HV accelerates evenly, considering the different vehicle performances and the adjacent lane of the RV in the merging lane (here refers to the target lane that the HV is preparing to merge into), the HV can basically accelerate to the same speed as the RV after 6 seconds, which can also meet the speed of lane change.

[0053] The RSC cooperation information sent here includes: VehicleCoordination = cooperative vehicle merge, where driveSuggestion = merge, and the recommended validity period of this information is 8 seconds. Calculate the location that the RV will arrive at 8 seconds later, that is, the location that the RV will arrive at 3 seconds after passing the merge point, that is, the location that the HV will arrive at 8 seconds later. Excluding the 2s start time, the RV needs to exceed the front of the HV within 6 seconds. Therefore, the longitudinal distance L that the HV needs to advance is: L = v r ×3-(l HV +l RV / 2);l HV is the length of vehicle HV, l RV is the length of the vehicle RV, v r is the speed of the vehicle RV.

[0054] After receiving the message, the HV starts and arrives at the designated location after 8 seconds as required. At this time, the vehicle in front of the adjacent lane is the RV, and the driver or the automatic driving controller completes the lane change to truly merge from the acceleration lane into the main road.

[0055] Step 4: The merging vehicle matches the current road section. If the matching result shows that the current road section belongs to the main road lane, the merging is determined to be completed.

[0056] Specifically, when it is determined that the merging is finished, the merging vehicle also sends a 2S VIR message, including: currentBehavior = merging, reqs = laneChange, requested status = completed, target lane = the lane ID closest to the main road and the merging point. After that, it resumes sending 1Hz VIR empty messages.

[0057] In addition, when the merging conditions are met, the RSU sends an RSC message to the vehicle in the HV target lane for road coordination. In the LaneCoordination message of the RSC message, the target lane is the HV target lane, and the start time is the moment when the message suggesting merging is sent to the HV or the moment when the phase of the intersection signal light is changed to pass. If merging is in progress, the end time is 10S after the timestamp of each frame message; if a VIR message indicating the end of the HV merging is received, the end time is changed to be consistent with the current message timestamp, indicating the end of the merging. Considering that not all vehicles have the second-stage communication capability and do not affect the movement of vehicles in the main lane, the recommended speed is empty. Coordination information = cooperative vehicle merging to remind vehicles with communication capabilities.

[0058] This embodiment also provides a vehicle cooperative merging traffic optimization model based on vehicle-road collaboration, which is used to execute the vehicle cooperative merging traffic optimization method based on vehicle-road collaboration as described above; it includes a judgment unit and a processing unit; the judgment unit is used to judge the second-stage communication capability of the current merging scene, and determine the vehicles with cooperative driving capability in the merging scene;

[0059] The processing unit is used to calculate the maximum waiting time of the merging scene and set a time threshold; when the maximum waiting time does not exceed the time threshold, the RSU is controlled to send a first guidance message to guide the merging vehicle to wait or pass; when the maximum waiting time exceeds the time threshold, the RSU is controlled to send a second guidance message to guide the trunk road vehicle to change lanes in the same direction;

[0060] In the merging scenario, the congestion level and traffic volume of the target lane of the main road are calculated, and the congestion threshold is set; when the traffic volume does not exceed the congestion threshold, the vehicles in the innermost lane of the main road and the merging vehicles are guided to merge in a collaborative manner; when the traffic volume exceeds the congestion threshold, lane change guidance is performed for the same-direction lanes of the main road vehicles, and the vehicles in the innermost lane are moved to the outer same-direction lanes.

[0061] The vehicle cooperative merging optimization model and method based on vehicle-road collaboration provided in this embodiment can make full use of the V2X second-stage communication function to guide the efficient and safe merging of ramp vehicles, help alleviate ramp congestion problems, improve merging efficiency, and reduce merging risks.

[0062] In particular, this solution provides a new vehicle cooperative merging optimization method that can achieve higher merging efficiency. The following is a description of the operation effect of this solution with a pair of ratios:

[0063] like Figure 3 , Figure 4 As shown in the figure, it is a comparison chart of the effects of the original algorithm and the optimized algorithm of this solution on 100 vehicles. Specifically, these 100 vehicles are all ramp vehicles, and the original algorithm is an existing algorithm that does not consider the V2X second-stage communication function, such as the method described in the background technology of "dynamically adjusting the timing of traffic signals based on the real-time location and flow information of vehicles and pedestrians to adapt to the current traffic conditions".

[0064] like Figure 3As shown in the figure, the left one is the original algorithm effect diagram, and the right one is the optimized algorithm effect diagram of this solution. As can be seen from the left figure, when the ramp waiting time threshold is exceeded, the number of waiting vehicles is 57, and the number of vehicles within the ramp maximum waiting time threshold is 43; as can be seen from the right figure, when the ramp waiting time threshold is exceeded, the number of waiting vehicles is 0, and the number of vehicles within the ramp maximum waiting time threshold is 100. It can be seen that the algorithm of this solution greatly improves the road capacity and greatly reduces the congestion time of ramp vehicles.

[0065] like Figure 4 As shown in the figure, the left one is the original algorithm effect diagram, and the right one is the optimized algorithm effect diagram of this solution. As can be seen from the left figure, the congestion level of the trunk road is 53 congested vehicles and 47 non-congested vehicles; as can be seen from the right figure, the congestion level of the trunk road is 0 congested vehicles and 100 non-congested vehicles. It can be seen that the algorithm of this solution has greatly improved the road capacity and greatly reduced the congestion time of ramp vehicles.

[0066] The above is only an embodiment of the present invention. The common sense such as the known specific structure and characteristics in the scheme is not described in detail here. The ordinary technicians in the relevant field are aware of all the common technical knowledge in the technical field of the invention before the application date or priority date, can obtain all the existing technologies in the field, and have the ability to apply the conventional experimental means before that date. The ordinary technicians in the relevant field can improve and implement the scheme in combination with their own abilities under the enlightenment given by this application. Some typical known structures or known methods should not become obstacles for the ordinary technicians in the relevant field to implement this application. It should be pointed out that for the technicians in this field, without departing from the structure of the present invention, several deformations and improvements can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent.

Claims

1. A vehicle cooperative merging traffic optimization method based on vehicle-road collaboration, characterized in that: The following steps are involved: Step 1: determine the second-stage communication capability of the current merging scene and determine the vehicles in the merging scene that have cooperative driving capabilities; Step 2, calculate the maximum waiting time for importing scenes and set the time threshold; When the maximum waiting time does not exceed the time threshold, the RSU sends the first guidance information to guide the merging vehicles to wait or pass; when the maximum waiting time exceeds the time threshold, the RSU sends the second guidance information to guide the trunk road vehicles to change lanes in the same direction; In this step, first determine whether the vehicle has the intention to merge. If so, then determine the timing of the vehicle merging. The merging timing includes direct merging and waiting. When determining the timing of the vehicle merging, calculate the fastest time for the vehicle to reach the merging entrance based on the VIR message sent by the vehicle on the ramp. and the slowest time ; and the time it takes to reach the confluence entrance at the current speed ;in, ; s is the distance from the current point to the confluence point, is the maximum speed allowed on the current road; If the time it takes for vehicles on the main road to arrive at the merging point Not Available In the range, or When the vehicle merges into the ramp, it is determined that the vehicle merges into the ramp directly; otherwise, the vehicle merges into the ramp at a waiting time; and the RSU sends an RSC message to the vehicle on the ramp; the maximum waiting time is the slowest time ; Step 3: Calculate the congestion level and traffic volume of the target lane of the main road in the merging scenario, and set the congestion threshold; When the traffic volume does not exceed the congestion threshold, the vehicles in the innermost lane of the main road and the merging vehicles are guided to merge together; when the traffic volume exceeds the congestion threshold, the lane change guidance of the same-direction lanes of the main road vehicles is carried out, and the vehicles in the innermost lane are moved to the outer lane of the same direction.

2. The vehicle cooperative merging optimization method based on vehicle-road collaboration according to claim 1 is characterized in that: In step 1, when determining the second-stage communication capability of the current imported scene, the following steps are included: For the RSU in the import scenario, the RSU sends RSC empty messages at a frequency of 1 Hz; For the vehicles in the merged scene, the OBUs of HV and RV send VIR empty messages at a frequency of 1 Hz; When the receiving unit receives the RSC empty message and the VIR empty message, it considers that the RSU or vehicle that sent the message has the second-stage communication capability; Furthermore, when the collaboration is triggered, the frequency of each unit sending key data sets is adjusted to 10 Hz. After the collaboration ends, the frequency of sending empty messages is restored to 1 Hz.

3. The vehicle cooperative merging optimization method based on vehicle-road collaboration according to claim 1 is characterized in that: When judging whether a vehicle has the intention to merge, the following steps are included: in the merging scenario, if the HV recognizes that there are vehicles around it that are in the same node section as itself, but not in the same section; and the HV itself or one of the vehicles around it is currently on the ramp; and the distance between the two and the node is less than 100m, it is determined that the vehicle on the ramp has the intention to merge and is about to merge into the main road. At this time, the vehicle sends a VIR message to the RSU at a frequency of 10Hz.

4. The vehicle cooperative merging optimization method based on vehicle-road collaboration according to claim 1 is characterized in that: When merging directly, the vehicle receives the RSC message and follows the speed in the recommended route planning. and route to ensure Appear at the entrance at any time; The recommended validity period for RSC messages; ; Among them, s is the distance from the current point to the confluence point, is the length of the vehicle on the ramp, The length of vehicles on main roads.

5. The vehicle cooperative merging optimization method based on vehicle-road collaboration according to claim 1 is characterized in that: When the vehicle is waiting to merge, if the distance between the next vehicle that is about to arrive at the merge entrance and the vehicle behind it is , it is determined that the traffic flow does not exceed the congestion threshold.

6. The vehicle cooperative merging optimization method based on vehicle-road collaboration according to claim 1 is characterized in that: After the determination of the vehicle's merging timing is completed, if there is a traffic light in the merging scene, the traffic light will also be controlled; when the vehicle's merging timing is direct merging, the traffic light will be controlled to display green; when the vehicle's merging timing is stop and wait, the traffic light will be controlled to display red until the vehicle's merging timing is switched to direct merging.

7. The vehicle cooperative merging optimization method based on vehicle-road collaboration according to claim 1 is characterized in that: The method further includes step 4, in which the merging vehicle matches the current road section. If the matching result shows that the current road section belongs to the main road lane, it is determined that the merging is completed.

Images