Combined Safety and Coordination of Connected Automated Vehicles in Merging Area with Featuring Optimal Merging Positions

Table 1

The implementation algorithm of the proposed model.

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Algorithm

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1. Initializing the Network

① IDM parameters setting

, ,

② ACC parameters setting

, , ,

③ Vehicles generating

Volume ← 3000

Statistical characteristics of traffic flow ← Poisson distribution

On-ramp area ←

④ Simulation time setting

, step size ←

Starting simulation: , go to step 2.

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2. Calculate the range of the insertable gap:

, go to step 3.

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3. ① Calculate the min possible value of the gap

② Put all in the set , go to step 4.

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4. ① Set n = 1

② Take from G and get , , go to step 5.

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5. ① Calculate the merging speed and get the median value

② Calculate the merging position

③ Compare and the position of ⟶ Choose ‘Situation’

④ Compare and ⟶ Choose ‘Sub-situation’

⑤ Compare and ⟶ Choose ‘Case’, go to step 6.

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6. ① Calculate and analyze driving scheme ⟶ Based on (14) and (15)

② If there’s a solution, end; otherwise, set n = n+1, go to step 4-②.

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