A Collaborative Merging Method for Connected Vehicles Using Spatio-Temporal Grid Reservation

A coordination method based on spatio-temporal grid reservation has been proposed to reduce the computational complexity of merging and mediation for connected and automated driving. Existing methods only consider the acceleration and deceleration of vehicles during merging, without taking advantage of dynamic maps' abilities to handle information over a wide area. Therefore, in this research, we propose an efficient merging coordination considering lane changes on expressways. Simulation results show that appropriate lane changes reduce both travel time delays and the number of sudden deceleration events, thereby enhancing both efficiency and safety.