{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,16]],"date-time":"2026-02-16T20:58:57Z","timestamp":1771275537644,"version":"3.50.1"},"reference-count":40,"publisher":"MDPI AG","issue":"9","license":[{"start":{"date-parts":[[2023,4,30]],"date-time":"2023-04-30T00:00:00Z","timestamp":1682812800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Central Public-Interest Scientific Institution Basal Research Fund","award":["2021-9081"],"award-info":[{"award-number":["2021-9081"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>To solve the problems of congestion and accident risk when multiple vehicles merge into the merging area of a freeway, a platoon split collaborative merging (PSCM) method was proposed for an on-ramp connected and automated vehicle (CAV) platoon under a mixed traffic environment composed of human-driving vehicles (HDV) and CAVs. The PSCM method mainly includes two parts: merging vehicle motion control and merging effect evaluation. Firstly, the collision avoidance constraints of merging vehicles were analyzed, and on this basis, a following\u2013merging motion rule was proposed. Then, considering the feasibility of and constraints on the stability of traffic flow during merging, a performance measurement function with safety and merging efficiency as optimization objectives was established to screen for the optimal splitting strategy. Simulation experiments under traffic demand of 1500 pcu\/h\/lane and CAV ratios of 30%, 50%, and 70% were conducted respectively. It was shown that under the 50% CAV ratio, the average travel time of the on-ramp CAV platoon was reduced by 50.7% under the optimal platoon split strategy compared with the no-split control strategy. In addition, the average travel time of main road vehicles was reduced by 27.9%. Thus, the proposed PSCM method is suitable for the merging control of on-ramp CAV platoons under the condition of heavy main road traffic demand.<\/jats:p>","DOI":"10.3390\/s23094401","type":"journal-article","created":{"date-parts":[[2023,5,1]],"date-time":"2023-05-01T12:12:11Z","timestamp":1682943131000},"page":"4401","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["A Collaborative Merging Method for Connected and Automated Vehicle Platoons in a Freeway Merging Area with Considerations for Safety and Efficiency"],"prefix":"10.3390","volume":"23","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4632-0726","authenticated-orcid":false,"given":"Huan","family":"Gao","sequence":"first","affiliation":[{"name":"Research Institute of Highway Ministry of Transport, Beijing 100088, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yanqing","family":"Cen","sequence":"additional","affiliation":[{"name":"Research Institute of Highway Ministry of Transport, Beijing 100088, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bo","family":"Liu","sequence":"additional","affiliation":[{"name":"Research Institute of Highway Ministry of Transport, Beijing 100088, China"},{"name":"Department of Automation, Tsinghua University, Beijing 100083, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xianghui","family":"Song","sequence":"additional","affiliation":[{"name":"Research Institute of Highway Ministry of Transport, Beijing 100088, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5738-4971","authenticated-orcid":false,"given":"Hongben","family":"Liu","sequence":"additional","affiliation":[{"name":"Research Institute of Highway Ministry of Transport, Beijing 100088, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jia","family":"Liu","sequence":"additional","affiliation":[{"name":"Research Institute of Highway Ministry of Transport, Beijing 100088, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2023,4,30]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"101","DOI":"10.1016\/j.trb.2018.08.013","article-title":"Role of road network features in the evaluation of incident impacts on urban traffic mobility","volume":"117","author":"Sun","year":"2018","journal-title":"Transp. 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