This study provides an automated cooperative control method in multilane freeway merging areas within the connected and autonomous vehicle (CAV) technology. First, a lane-change model for a mainline vehicle considering the ramp traffic demand is proposed to determine which vehicles should change lanes from the outer lane to the inner lane of the upstream mainline in the merging area. Second, the time window of the on-ramp vehicles entering the mainline is defined based on the safe headway time and acceleration time. Then, a linear programming cooperative decision model is adopted for the merging vehicles in a given time window. A typical scene of a two-lane freeway merging area is analysed, and the results show that, compared with the non-cooperative control method, the proposed method can effectively decrease the total delay and number of stops and increase the outflow rate downstream of the merging bottleneck.

这项研究为互联自动驾驶汽车（CAV）技术中的多车道高速公路合并区域提供了一种自动协作控制方法。首先，提出了一种考虑坡道交通需求的干线车辆换道模型，以确定哪些车辆应在合并区域中将车道从上游干线的外车道改为内车道。其次，根据安全行驶时间和加速时间来定义匝道车辆进入主线的时间窗口。然后，在给定的时间窗口内，对合并车辆采用线性规划协同决策模型。分析了两车道高速公路合并区域的典型场景，结果表明，与非合作控制方法相比，