Game Theory-Based Ramp Merging for Mixed Traffic With Unity-SUMO Co-Simulation
针对混合交通中匝道合流的安全与效率问题，提出一种基于博弈论的CAV协同合流策略，在Unity-SUMO平台上仿真验证，平均车速最高提升210%，油耗最高降低53.9%。
Ramp merging is considered to be one of the major causes of traffic accidents and congestion due to its inherent chaotic nature. With the development of the connected and automated vehicle (CAV) technology, CAVs can conduct cooperative merging using communication, and can also handle complicated situations even with legacy vehicles. In this article, a game theory-based ramp merging strategy has been developed for the optimal merging coordination of CAVs in mixed traffic, which can determine the dynamic merging sequence and corresponding longitudinal/lateral control. This strategy improves the safety and efficiency of the merging process by ensuring a safe intervehicle distance and harmonizing the speeds of CAVs in the traffic stream. To verify the proposed strategy, mixed traffic simulation runs under different penetration rates and different congestion levels have been carried out on an innovative Unity-SUMO integrated platform, which connects a game engine-based driving simulator with a state-of-the-art microscopic traffic simulator. The results show that the average speed of traffic flow can be increased up to 210%, while the fuel consumption can be reduced up to 53.9%. In addition, the driving volatility can be stabilized to a level with 0% extreme values.