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1D and 2D trajectory optimization in weaving segments under a unified risk field framework: cooperative merging control strategy towards mixed traffic environment
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DOI：10.1016/j.trb.2026.103505.png)
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Abstract
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• Proposes a unified framework for ramp merging trajectory optimization based on risk field theory. • The trajectory optimization framework integrates pre-merging one-dimensional and lane-changing two-dimensional trajectory optimization problems. • The trajectory optimization framework is applicable to scenarios involving multi-lane weaving segments in mixed traffic flow environments. • Provides targeted merging strategies for all merging cases in mixed traffic flow environments. • Simulates the uncertainty and sensitivity of human drivers.
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