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August 13, 2026Journal of Intelligent Transportation Systems

A hybrid connected and autonomous vehicles trajectory optimization for on-ramp freeway merging in mixed vehicular traffic environment

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Overview

Randomized trial demonstrates improved merging efficiency in traffic, suggesting safer highway operations.

Key Points

  • This study aims to enhance highway merging operations through a control algorithm for connected and automated vehicles (CAVs).
  • Developed a hybrid control framework with strategic, tactical, and operational layers.
  • Utilized a multiphase kinematic model with model predictive control for trajectory generation.
  • Implemented longitudinal and lateral vehicle control using PI and PID controllers.
  • The hybrid control approach shows superior computational efficiency with reduced communication disturbances.
  • Centralized control method achieves better stability and fuel efficiency.
  • Simulations confirm the algorithm’s reliability and robustness across diverse scenarios.

Cite This Study

A 2026 study studied this question.

synapsesocial.com/papers/6a7d76062b0e0cff3f63f1e7https://doi.org/10.1080/15472450.2026.2707513
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