A Cooperative Trajectory Optimization Algorithm for Connected Vehicles in Merging Zones

Table 1

Example parameters values.

Variables	Description	Value
	Length of acceleration lane	400 m
	Distance between detection point and merging spot	100 m
	Maximum velocity on main road	30 m/s
	Maximum velocity on ramp	25 m/s
	Maximum/comfortable acceleration	3 m/s^2, 2.5 m/s^2
,	Maximum/comfortable deceleration	2 m/s^2, 1.5 m/s^2
	Length of the vehicle	3 m
	Rate of free acceleration of vehicles	0.4 s
	Feedback gain of weight parameters	0.23 s^2, 0.07 s
,	Error of weight coefficient of vehicle distance	0.45 s^2, 0.25 s
	Reaction time	0.6 s
	The distance range in free mode	2 sv
	The distance range in approximation mode	1 sv