CN109598950A - A kind of the ring road collaboration remittance control method and system of intelligent network connection vehicle - Google Patents

Abstract

The invention discloses a kind of ring road collaborations of intelligent network connection vehicle to import control method, it is related to intelligent network connection technical field of transportation, determine that ring road imports the vehicle number of main line and optimizes ring road vehicle remittance sequence according to the main line and ring road car status information that obtain in real time at On-Ramp on Freeway, the influence run to main line vehicle is reduced, road section capacity is promoted.The invention also discloses a kind of ring road collaborations of intelligent network connection vehicle to import control system, and the present invention realizes practical application of the intelligent network connection technology in terms of ring road cooperates with remittance, helps to improve the traffic efficiency of freeway facility.

Description

A kind of the ring road collaboration remittance control method and system of intelligent network connection vehicle

Technical field

The present invention relates to intelligent networks to join technical field of transportation, and especially a kind of ring road collaboration of intelligent network connection vehicle imports controlMethod and system processed.

Background technique

With the swift and violent growth of China's vehicle guaranteeding organic quantity, the construction and state of development of current highway are more nextIt is more difficult to meet the growing trip requirements of people.Especially Entrance ramp neighboring area, often because interflow behavior causes bottleneck roadSection.When the wagon flow comparatively dense on highway main line road, ring road vehicle is had to slow down to wait suitable remittance gap,Consequently lead to the queuing even backflow phenomenon of vehicle at Entrance ramp.Meanwhile part ring road vehicle do not seek it is acceptable betweenThe remittance behavior taken in the case where gap can force main line vehicle slow down even emergency braking, imitate the operation of main line wagon flowRate substantially reduces, and the problems such as be further exacerbated by traffic congestion and traffic accident, seriously affected freeway facility it is efficient,Orderly running.

On-ramp Control enters the important means of the traffic flow of highway main line as management, in existing highwayOutstanding role is played during the operation of system.Ramp control system is limited according to main line traffic flow operation conditions by ring roadThe magnitude of traffic flow of main line is imported, reduces the influence run to main line vehicle, while improving the traffic capacity of highway.However,Nowadays ramp metering rate method that China uses mainly is estimated using the traffic flow data that the fixed detector on main line road obtainsThe magnitude of traffic flow that meter can be entered by ring road.The traffic data precision acquired by fixed detector is not high, can only often reflect fixationThe traffic condition of point whithin a period of time, is unable to satisfy requirement of real-time.In addition, existing ramp metering rate method does not account for listThe operation characteristic of a vehicle, ring road vehicle are not suitable for remittance behavior and can still affect greatly sometimes to main line traffic flow.

Summary of the invention

A kind of intelligent network connection vehicle is provided the technical problem to be solved by the present invention is to overcome the deficiencies in the prior artRing road collaboration imports control method and system, suitable by the remittance quantity and remittance of vehicle at control On-Ramp on FreewaySequence reduces the influence run to main line vehicle, improves the operational efficiency of freeway traffic flow.

The present invention uses following technical scheme to solve above-mentioned technical problem:

A kind of ring road collaboration of intelligent network connection vehicle proposed according to the present invention imports control method, the specific steps are as follows:

Step 1, when without import decision-making treatment ring road vehicle reach collaboration import control area in remittance decisionWhen point, all untreated main lines and the current running state data of ring road vehicle are acquired；

Step 2, according to the running state data of real-time main line and ring road vehicle, with main line vehicle travel time minimum andRing road vehicle imports quantity and is up to target, and optimization determines the ring road vehicle number for allowing to import and its imports the sequence of main line；

Step 3, the sequence for optimizing vehicle and importing main line obtained according to step 2, when there is ring road vehicle to be allowed to importWhen main line, main line vehicle involved in decision process is recorded, allow the ring road vehicle imported and is not allowed to the ring road vehicle imported, control instruction is sent to currently processed vehicle according to the sequence for optimizing vehicle remittance main line.

Ring road collaboration as a kind of intelligent network connection vehicle of the present invention imports control method and advanced optimizes scheme,Running state data includes acceleration, speed and location information in step 1.

Ring road collaboration as a kind of intelligent network connection vehicle of the present invention imports control method and advanced optimizes scheme,The ring road vehicle number for allowing to import is determined using genetic method optimization in step 2 and its imports the sequence of main line.

Ring road collaboration as a kind of intelligent network connection vehicle of the present invention imports control method and advanced optimizes scheme,Gene coding in genetic method indicates main line vehicle by 1, indicates ring road vehicle by 0, makes each of genetic method body generationTable is made of a kind of vehicle remittance sequence current m main line vehicle and r ring road vehicle；Population Size is set as N, population is initialChange makes it indicate N kind vehicle remittance sequence；Calculate population in all individuals fitness, by Selecting operation, crossing operation andMutation operator obtains the new population comprising N kind vehicle remittance sequence and operates before repeating；When having executed maximum something lostAfter passage number P, obtains the ring road vehicle number for allowing to import of optimization and its import the sequence of main line.

Ring road collaboration as a kind of intelligent network connection vehicle of the present invention imports control method and advanced optimizes scheme,Genetic method is specific as follows:

Step 5-1, the gene coding in genetic method indicates main line vehicle by 1, indicates ring road vehicle by 0, makes heredity sideThe representative of each of method body is made of a kind of vehicle remittance sequence current m main line vehicle and r ring road vehicle；Set populationSize is N, and initialization of population makes it indicate N kind vehicle remittance sequence；

Step 5-2, for the individual in new population, when 1 number in an individual and currently practical main line vehicle numberWhen not being inconsistent, individual fitness directly assigns a minimum positive number；When gene coding in 1 and 0 number completely with main line and ring roadWhen vehicle number is corresponding, the calculating of fitness u is distributed according to main line and ring road vehicle by virtual queue when importing point, integrationThe remittance quantity of the journey time of main line vehicle and ring road vehicle in queue forming process；Specific step is as follows:

5-2-1, ring road vehicle number r basis total untreated ring road vehicle number r and be left_l, normalizedRing road vehicle import quantity f₁^*:

5-2-2, according to the journey time tt of i-th of main line vehicle_i, main line vehicle number m, i-th main line vehicle and importThe distance between point l_i, minimum expectation speed v_iminWith greatest hope speed v_imax, the main line vehicle travel time of normalized

5-2-3, using weighted sum method, by standardized main line vehicle travel time f₁^*Number is imported with ring road vehicleAmountConstant coefficient w is assigned respectively₁And w₂, calculate fitness u:

Step 5-3, when obtain a population in all individuals fitness after, by Selecting operation, crossing operation andMutation operator obtains the new population comprising N kind vehicle remittance sequence；When genetic algebra is less than the maximum genetic algebra P of settingWhen, step 5-2 is gone to, step 5-4 is otherwise gone to；

Step 5-4, after having executed maximum genetic algebra P, according to the maximum individual of fitness, the vehicle optimized is determinedImport main line sequence.

Ring road collaboration as a kind of intelligent network connection vehicle of the present invention imports control method and advanced optimizes scheme,It is based on optimization sequence in step 3, comes the ring road vehicle after last main line vehicle and is not allowed to import, still as untreatedVehicle remains to be imported decision process next time, and other markings of cars are processed vehicle；By vehicle remittance sequence and vehicleRunning state data integrate, control instruction is sent to each currently processed vehicle, before informing its virtual queueThe status information of vehicle simultaneously guides vehicle to complete cooperative self-adapted cruise control operation.

A kind of ring road collaboration remittance control system of intelligent network connection vehicle, including roadside control unit and DSRC wireless communicationEquipment, roadside control unit are laid in highway main line lane with Entrance ramp intersection and import control area positioned at cooperateing withInterior, collaboration imports control area by highway rightmost side lane, Entrance ramp, acceleration lane, remittance point and imports decision pointIt constitutes, the extent of actual control in the region depends on the communication range of roadside control unit；Roadside control unit includes information inspectionExamining system, data processing system, data-storage system and information issuing system, wherein

DSRC wireless telecom equipment, in real time carrying out the intelligent network connection vehicle in roadside control unit and communication rangeInformation transmission；

Information detecting system, for being imported in control area when without the ring road vehicle arrival collaboration for importing decision-making treatmentRemittance decision point when, acquire all untreated main lines and the current running state data of ring road vehicle；

Data processing system, for optimizing the sequence for determining the ring road vehicle number for allowing to import and its importing main line；

Data-storage system, for recording master involved in decision process when there is ring road vehicle to be allowed to import main lineLine vehicle allows the ring road vehicle imported and is not allowed to the ring road vehicle imported；

Information issuing system sends control to currently processed vehicle according to the sequence for optimizing vehicle remittance main line and refers toIt enables.

The invention adopts the above technical scheme compared with prior art, has following technical effect that

(1) present invention is using advanced information detection technology, wireless communication technique and intelligent control technology, make vehicle intoEnter to transmit behind Collaborative Control region the operating status of itself to roadside control unit and nearby vehicle, control unit is according to control zoneTraffic flow situation in domain, is maximized with the remittance quantity of ring road vehicle and the runing time of main line vehicle is minimised as target,Determine that ring road imports the vehicle number and its remittance sequence of main line；

(2) in traditional ramp metering rate method, the wagon flow that ring road imports main line depends primarily on fixed test on main lineThe main line traffic flow operation characteristic data of device acquisition, fixed detector data precision is not high and information compares lag, it is difficult to fullFoot imports the requirement of real-time of wagon flow control, and the bad determination of control threshold that the implementation process of conventional method is related to, threshold valueSelection very big influence can be caused to the result of control；In the present invention, collaboration imports decision process and is based on real-time main lineWith the status information of ring road vehicle, converged by the virtual queue operation characteristic under prediction different vehicle remittance sequence to optimize vehicleEnter sequence, greatly strengthens the reliability of control method；

(3) in traditional ramp metering rate method, ring road imports the Traffic flux detection of main line mostly with main line traffic circulationRow ability is target, seldom considers vehicle queue and backflow phenomenon at Entrance ramp；In the present invention, control unit is sufficiently examinedConsider traffic noise prediction current on two lanes and expected wagon flow operation characteristic, optimization object function is related to main line vehicle simultaneouslyAnd ring road vehicle expected results, so that the remittance of ring road vehicle and main line vehicle is carried out sufficient Collaboration, it is high improvingOn the basis of fast highway capacity, the operational efficiency of main line and ring road traffic flow is promoted；

(4) real time status information of the present invention according to On-Ramp on Freeway periphery main line vehicle and ring road vehicle, knotThe ring road for closing the expection operation characteristic of the lower wagon flow of different vehicle remittance sequence to optimize imports vehicle number and vehicle remittance sequence, energyEnough improve ring road periphery main line and ring road vehicle imports the problems such as conflicting caused traffic congestion and vehicle collision, realizes that high speed is publicThe high efficiency and order of road traffic system running.

Detailed description of the invention

Fig. 1 is that intelligent network of the invention joins vehicle collaboration remittance control area schematic diagram.

Fig. 2 is the structural schematic diagram for the ring road collaboration remittance control method that intelligent network of the invention joins vehicle.

Fig. 3 is the flow diagram for the ring road collaboration remittance control method that intelligent network of the invention joins vehicle.

Fig. 4 is the schematic diagram of the invention using genetic algorithm optimization vehicle remittance sequence.

Specific embodiment

To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with the accompanying drawings and the specific embodimentsThe present invention will be described in detail.

Embodiment:

The present embodiment based on the assumption that

(1) collaboration in embodiment imports control area and is under intelligent network connection environment, matches in main line and ring road intersectionRoadside control unit is had, the practical coverage area of control area depends on the transmission for the DSRC communication equipment that roadside unit loadsRange；

(2) after vehicle enters control area, real-time information transmission can be carried out with other vehicles of periphery and roadside unit,And the instruction for fully complying with roadside control unit follows virtual queue front truck by given cooperative self-adapted cruise control ruleOperated with speeding；

(3) collaboration imports in control area, and the position imported a little is fixed, and all ring road vehicles execute in the point and import behaviourMake；

(4) speed of information transmission and data processing is sufficiently fast, and the delay that pilot process generates is negligible.

Specific implementation method is as follows:

Join vehicle collaboration as shown in Figure 1 for intelligent network of the invention and imports control area schematic diagram.The region is public by high speedRoad rightmost side lane, acceleration lane, imports point and imports decision point composition Entrance ramp, and the extent of actual control in region depends onIn the communication range of roadside control unit.

The ring road collaboration of intelligent network of the invention connection vehicle imports the structural schematic diagram of control method as shown in Figure 2.TracksideInformation detecting system in control unit carries out real-time monitoring to the operating status of ring road vehicle, when having without importing at decisionWhen the ring road vehicle of reason reaches the remittance decision point in control area, information detecting system acquires all untreated main lines and circleRoad vehicle is in the acceleration at current time, speed and location information and is transferred to data processing system and information issuing system；NumberAccording to processing system according to real-time main line and ring road vehicle status data, converged with main line vehicle travel time minimum and ring road vehicleEnter quantity and be up to target, optimum results are simultaneously sent to data storage system by the remittance sequence based on genetic algorithm optimization vehicleSystem；The vehicle remittance sequence of the optimization obtained according to data processing system is related to when there is ring road vehicle to be allowed to import main lineAnd all main line vehicles and allow the ring road vehicle imported to be all marked as processed vehicle, data-storage system will be handledResult afterwards is transferred to information issuing system, sends from information issuing system to each vehicle being related to and imports control instruction, accusesKnow the status information of vehicle virtual queue front truck and vehicle is guided to complete cooperative self-adapted cruise control operation.

Importing control strategy to the ring road collaboration of the present embodiment below with reference to Fig. 3 and Fig. 4, details are as follows, including following stepIt is rapid:

Step S1: indicating main line vehicle by " 1 " when gene encodes, and indicates ring road vehicle by " 0 ", makes every in genetic algorithmOne individual represents a kind of possible vehicle remittance sequence being made of current m main line vehicle and r ring road vehicle；Set populationSize is N, and initialization of population makes it indicate the possible vehicle remittance sequence of N kind；

Step S2: for the individual in new population, the number of " 1 " may not be inconsistent with currently practical main line vehicle number, thisWhen individual fitness directly assign a minimum positive number；When the number of " 1 " and " 0 " is completely corresponding to main line and circle in gene codingWhen road vehicle number, the calculating of fitness u is distributed according to main line and ring road vehicle by virtual queue when importing point, integrates queueThe remittance quantity of the journey time of main line vehicle and ring road vehicle in forming process, specific steps such as step S21~step S23 instituteShow:

Step S21: according to total ring road vehicle number r and the ring road vehicle number r being left_l, the ring road vehicle of normalizedImport quantity f₁^*:

Step S22: according to the journey time tt of main line vehicle i_i, main line vehicle number m, main line vehicle i and import point betweenDistance l_i, minimum expectation speed v_iminWith greatest hope speed v_imax, the main line vehicle travel time of normalized

Step S23: utilizing weighted sum method, by standardized main line vehicle travel time f₁^*It is imported with ring road vehicleQuantityConstant coefficient w is assigned respectively₁And w₂, calculate fitness u:

Step S3: after obtaining the fitness of all individuals in a population, pass through Selecting operation, crossing operation and changeXor obtains the new population comprising the possible vehicle remittance sequence of N kind；When genetic algebra is less than the maximum heredity of settingWhen algebra P, goes to step S2 and otherwise go to step S4；

Step S4: after having executed maximum genetic algebra P, according to the maximum individual of fitness, the vehicle optimized is determinedRemittance sequence.

The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, anyIn the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by those familiar with the art, all answersIt is included within the scope of protection of the present invention.

Claims (7)

Translated fromChinese

1.一种智能网联车辆的匝道协同汇入控制方法，其特征在于，具体步骤如下：1. A ramp collaborative entry control method for an intelligent networked vehicle, characterized in that the concrete steps are as follows:步骤1、当未经过汇入决策处理的匝道车辆到达协同汇入控制区域内的汇入决策点时，采集所有未处理的主线和匝道车辆当前的运行状态数据；Step 1. When the on-ramp vehicles that have not undergone the in-entry decision processing arrive at the in-flow decision point in the collaborative in-flow control area, collect the current operating status data of all unprocessed main line and ramp vehicles;步骤2、根据实时的主线和匝道车辆的运行状态数据，以主线车辆行程时间最小和匝道车辆汇入数量最大为目标，优化确定允许汇入的匝道车辆数及其汇入主线的顺序；Step 2. According to the real-time running status data of main line and ramp vehicles, with the goal of the minimum travel time of main line vehicles and the maximum number of on-ramp vehicles, optimize the number of allowed in-ramp vehicles and the order in which they enter the main line;步骤3、根据步骤2获得的最优化车辆汇入主线的顺序，当有匝道车辆被允许汇入主线时，记录决策过程中涉及的主线车辆、允许汇入的匝道车辆和未被允许汇入的匝道车辆，根据最优化车辆汇入主线的顺序向当前处理的车辆发送控制指令。Step 3. According to the optimal sequence of vehicles merging into the main line obtained in step 2, when there are ramp vehicles allowed to merge into the main line, record the main line vehicles involved in the decision-making process, the ramp vehicles that are allowed to enter, and the vehicles that are not allowed to enter. Ramp vehicles send control commands to the currently processed vehicles according to the sequence in which the vehicles are optimally merged into the main line.2.根据权利要求1所述的一种智能网联车辆的匝道协同汇入控制方法，其特征在于，步骤1中运行状态数据包括加速度、速度和位置信息。2 . The method for controlling ramp cooperative entry of intelligent networked vehicles according to claim 1 , wherein the operating state data in step 1 includes acceleration, speed and position information. 3 .3.根据权利要求1所述的一种智能网联车辆的匝道协同汇入控制方法，其特征在于，步骤2中采用遗传方法优化确定允许汇入的匝道车辆数及其汇入主线的顺序。3 . The method for controlling the collaborative entry of an intelligent networked vehicle on a ramp according to claim 1 , wherein in step 2, a genetic method is used to optimize and determine the number of vehicles allowed to enter the ramp and the order in which they enter the main line. 4 .4.根据权利要求3所述的一种智能网联车辆的匝道协同汇入控制方法，其特征在于，遗传方法中的基因编码由1表示主线车辆，由0表示匝道车辆，使遗传方法中的每一个体代表由当前m个主线车辆和r个匝道车辆构成一种车辆汇入顺序；设定种群大小为N，种群初始化使其表示N种车辆汇入顺序；计算种群中所有个体的适应度，经过选择运算、交叉运算和变异运算获得一个新的包含N种车辆汇入顺序的种群并重复之前操作；当执行完最大的遗传代数P后，获得最优化的允许汇入的匝道车辆数及其汇入主线的顺序。4 . The method for controlling on-ramp collaborative entry of intelligent networked vehicles according to claim 3 , wherein the genetic code in the genetic method is represented by 1 for mainline vehicles and 0 for ramp vehicles, so that the genetic code in the genetic method is 1. Each individual represents a vehicle entry sequence consisting of the current m mainline vehicles and r ramp vehicles; the population size is set to N, and the population is initialized so that it represents the entry sequence of N vehicles; the fitness of all individuals in the population is calculated , after the selection operation, crossover operation and mutation operation, a new population containing N kinds of vehicle entry sequences is obtained and the previous operation is repeated; when the maximum genetic algebra P is executed, the optimized number of allowed entry ramp vehicles and The order in which it is imported into the mainline.5.根据权利要求3所述的一种智能网联车辆的匝道协同汇入控制方法，其特征在于，遗传方法具体如下：5. The ramp cooperative entry control method for an intelligent networked vehicle according to claim 3, wherein the genetic method is specifically as follows:步骤5-1、遗传方法中的基因编码由1表示主线车辆，由0表示匝道车辆，使遗传方法中的每一个体代表由当前m个主线车辆和r个匝道车辆构成一种车辆汇入顺序；设定种群大小为N，种群初始化使其表示N种车辆汇入顺序；Step 5-1. The genetic code in the genetic method is represented by 1 for mainline vehicles and 0 for ramp vehicles, so that each individual in the genetic method represents a vehicle entry sequence consisting of current m mainline vehicles and r ramp vehicles. ; Set the population size to N, and initialize the population to represent the order in which N vehicles are imported;步骤5-2、对于新种群中的个体，当一个个体中1的个数与当前实际的主线车辆数不符时，个体的适应度直接赋一极小的正数；当基因编码中1和0的个数完全与主线和匝道车辆数相对应时，适应度u的计算根据主线和匝道车辆通过汇入点时的虚拟队列分布，整合队列形成过程中主线车辆的行程时间和匝道车辆的汇入数量；具体步骤如下：Step 5-2. For individuals in the new population, when the number of 1 in an individual does not match the current actual number of mainline vehicles, the fitness of the individual is directly assigned a very small positive number; when 1 and 0 in the gene code When the number of u is completely corresponding to the number of vehicles on the main line and on the ramp, the calculation of the fitness u is based on the virtual queue distribution when the vehicles on the main line and the ramp pass through the entry point, and integrates the travel time of the main line vehicles and the entry of the ramp vehicles during the formation of the queue. quantity; the specific steps are as follows:5-2-1、根据总的未经处理的匝道车辆数r和被剩下的匝道车辆数r_l，计算标准化的匝道车辆汇入数量f₁^*：5-2-1. According to the total number of unprocessed on-ramp vehicles r and the number of remaining on-ramp vehicles r_l , calculate the standardized number f₁^* of on-ramp vehicles:5-2-2、根据第i个主线车辆的行程时间tt_i、主线车辆数m、第i个主线车辆与汇入点之间的距离l_i、最小期望车速v_imin和最大期望车速v_imax，计算标准化的主线车辆行程时间5-2-2. According to the travel time tt_i of the i-th mainline vehicle, the number of mainline vehicles m, the distance l_i between the i-th mainline vehicle and the entry point, the minimum expected vehicle speed v_imin and the maximum expected vehicle speed v_imax , calculates normalized mainline vehicle travel time5-2-3、利用加权和方法，通过向标准化的主线车辆行程时间f₁^*和匝道车辆汇入数量分别赋常系数w₁和w₂，计算适应度u：5-2-3. Using the weighted sum method, by adding the normalized mainline vehicle travel time f₁^* and the number of on-ramp vehicles Respectively assign constant coefficients w₁ and w₂ to calculate the fitness u:步骤5-3、当获得一个种群中所有个体的适应度之后，通过选择运算、交叉运算和变异运算获得一个包含N种车辆汇入顺序的新种群；当遗传代数小于设定的最大遗传代数P时，转到步骤5-2，否则转到步骤5-4；Step 5-3. After obtaining the fitness of all individuals in a population, obtain a new population containing N vehicle import sequences through selection operation, crossover operation and mutation operation; when the genetic algebra is less than the set maximum genetic algebra P , go to step 5-2, otherwise go to step 5-4;步骤5-4、当执行完最大的遗传代数P后，根据适应度最大的个体，确定最优化的车辆汇入主线的顺序。Step 5-4: After executing the largest genetic algebra P, determine the order in which the optimized vehicles are merged into the main line according to the individual with the largest fitness.6.根据权利要求1所述的一种智能网联车辆的匝道协同汇入控制方法，其特征在于，步骤3中基于优化顺序，排在最后一辆主线车之后的匝道车辆不被允许汇入，仍作为未处理车辆留待进行下一次汇入决策过程，而其他车辆标记为已处理车辆；将车辆汇入顺序与车辆的运行状态数据整合起来，向每一辆当前处理的车辆发送控制指令，告知其虚拟队列前车的状态信息并引导车辆完成协同自适应巡航控制操作。6 . The method for controlling the collaborative entry of an intelligent networked vehicle on a ramp according to claim 1 , wherein in step 3, based on the optimization sequence, the ramp vehicles after the last main line vehicle are not allowed to merge in. 7 . , still as unprocessed vehicles for the next import decision-making process, while other vehicles are marked as processed vehicles; integrate the vehicle import sequence with the vehicle's running status data, and send control commands to each currently processed vehicle. Inform it of the status information of the vehicle ahead of the virtual queue and guide the vehicle to complete the cooperative adaptive cruise control operation.7.一种智能网联车辆的匝道协同汇入控制系统，其特征在于，包括路侧控制单元和DSRC无线通信设备，路侧控制单元布设在高速公路主线车道与入口匝道交汇处且位于协同汇入控制区域内，协同汇入控制区域由高速公路最右侧车道、入口匝道、加速车道、汇入点和汇入决策点构成，该区域的实际控制范围取决于路侧控制单元的通信范围；路侧控制单元包括信息检测系统、数据处理系统、数据存储系统和信息发布系统，其中，7. A ramp cooperative entry control system for an intelligent networked vehicle, characterized in that it includes a roadside control unit and a DSRC wireless communication device, and the roadside control unit is arranged at the intersection of the highway main line lane and the on-ramp and is located at the synergistic intersection. In the entry control area, the collaborative entry control area consists of the rightmost lane of the expressway, the entry ramp, the acceleration lane, the entry point and the entry decision point. The actual control range of this area depends on the communication range of the roadside control unit; The roadside control unit includes an information detection system, a data processing system, a data storage system and an information release system, wherein,DSRC无线通信设备，用于实时将路侧控制单元与通信范围内的智能网联车辆进行信息传输；DSRC wireless communication equipment, used for real-time information transmission between the roadside control unit and the intelligent networked vehicles within the communication range;信息检测系统，用于当未经过汇入决策处理的匝道车辆到达协同汇入控制区域内的汇入决策点时，采集所有未处理的主线和匝道车辆当前的运行状态数据；The information detection system is used to collect the current operating status data of all unprocessed main line and ramp vehicles when the on-ramp vehicles that have not undergone the in-entry decision processing arrive at the in-flow decision point in the collaborative in-flow control area;数据处理系统，用于优化确定允许汇入的匝道车辆数及其汇入主线的顺序；A data processing system for optimally determining the number of vehicles allowed to enter the ramp and the order in which they enter the main line;数据存储系统，用于当有匝道车辆被允许汇入主线时，记录决策过程中涉及的主线车辆、允许汇入的匝道车辆和未被允许汇入的匝道车辆；A data storage system for recording the mainline vehicles involved in the decision-making process, the ramp vehicles that are allowed to enter, and the ramp vehicles that are not allowed to enter when there are on-ramp vehicles allowed to merge into the main line;信息发布系统，根据最优化车辆汇入主线的顺序向当前处理的车辆发送控制指令。The information release system sends control instructions to the currently processed vehicles according to the sequence in which the vehicles are optimally merged into the main line.