A Hierarchical Model-Based Optimization Control Approach for Cooperative Merging by Connected Automated Vehicles

Gap selection and dynamic speed profiles of interacting vehicles at on-ramps affect the safety and efficiency of highway merging sections. This paper puts forward a hierarchical control approach for Connected Automated Vehicles (CAVs) to achieve efficient and safe merging operations. A tactical layer controller employs a second-order car-following model with a cooperative merging mode to represent...