This research presents a multi-vehicle control strategy combining the merging control and platoon control to deal with the merging scenario in the freeway ramp entrance. In the merging controller, a selection algorithm is presented firstly to determine the merging sequence based on the initial states of the vehicles in the cooperative area. Subsequently, the optimized longitudinal trajectory of the facilitating vehicle and on-ramp vehicle is addressed by solving the Hamiltonian function. As for the platoon controller, string stability is analyzed to attenuate the impact of merging on the mainline traffic, considering the influence of communication time delay. Smooth mode switching is achieved by introducing the tracking policy of platoon controller to determine the terminal states of the facilitating vehicle. The proposed strategy is simulated at two typical merging scenarios, where two on-ramp vehicles attempt to cut into a six-vehicular platoon, to validate its feasibility and advantage.

本研究提出了一种融合控制与排控制相结合的多车辆控制策略，以应对高速公路匝道入口的合并场景。在并道控制器中，首先提出了一种选择算法，根据合作区域内车辆的初始状态确定并道顺序。随后，通过求解哈密顿函数来解决辅助车辆和匝道车辆的优化纵向轨迹。对于排控制器，考虑通信时延的影响，分析串稳定性以减弱合并对主线流量的影响。平滑模式切换是通过引入排控制器的跟踪策略来确定辅助车辆的终端状态来实现的。