Research On Merging Planning And Trajectory Tracking Of Entrance Ramp Vehicles

The vehicle merging at on-ramps is one of the ways to relieve traffic congestion,meanwhile,the ramp is one of the most likely places to cause an accident or traffic congestion.By controlling the merging of the vehicles on ramps effectively,the vehicles on the secondary road and the vehicles on the main road can travel reasonably and efficiently.It can not only improve traffic capacity and ensure safety effectively,but also reduce traffic congestion,the environmental pollution,and save cost.This paper studies the merging sequence algorithm,trajectory planning and tracking controller as follows:Firstly,the vehicles on ramp should choose the right time to merge.And,it is necessary to judge the merging sequence.Therefore,this paper proposes a merging sequence decision algorithm.Under the condition of safe driving,the vehicle on the ramp is merged into the main road according to the merging sequence algorithm.Secondly,the desired trajectory of the vehicle in the acceleration lane is obtained based on energy consumption as performance index by the Hamilton function analysis method.The finite time tracking controller is designed by setting up the position error,velocity error and acceleration error,making the vehicle track the desired trajectory.Finally,aiming at the factors that influence the traffic environment in real situations,the vehicle is unable to follow the desired trajectory.A fixed time interval strategy is used to make a new trajectory planning for the vehicle in this paper.The scope of each trajectory planning is from the current position to the merging point,until the merging operation of the entire acceleration lane is completed.In order to enable the vehicle to track the desired trajectory and improve traffic efficiency,a fixed time trajectory tracking controller is designed by setting up the trajectory error system.Finally,through MATLAB software,the feasibility and effectiveness of the controller are verified.