{"id":"https://openalex.org/W4413018717","doi":"https://doi.org/10.1109/iv64158.2025.11097644","title":"A Cooperative Control Method for On-Ramp Merging Under Mixed Traffic Flow","display_name":"A Cooperative Control Method for On-Ramp Merging Under Mixed Traffic Flow","publication_year":2025,"publication_date":"2025-06-22","ids":{"openalex":"https://openalex.org/W4413018717","doi":"https://doi.org/10.1109/iv64158.2025.11097644"},"language":"en","primary_location":{"id":"doi:10.1109/iv64158.2025.11097644","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv64158.2025.11097644","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100451252","display_name":"B. Li","orcid":"https://orcid.org/0000-0002-1974-2229"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Boyu Li","raw_affiliation_strings":["Tsinghua University,Department of Automation,Beijing,China,100084"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Automation,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112997296","display_name":"Xinrui Ni","orcid":"https://orcid.org/0000-0003-2451-0980"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinrui Ni","raw_affiliation_strings":["Tsinghua University,Department of Automation,Beijing,China,100084"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Automation,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081663090","display_name":"Danya Yao","orcid":"https://orcid.org/0000-0001-5032-6322"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Danya Yao","raw_affiliation_strings":["BNRist, Tsinghua University,Department of Automation,Beijing,China,100084"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"BNRist, Tsinghua University,Department of Automation,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037682194","display_name":"Yi Zhang","orcid":"https://orcid.org/0000-0003-2662-7699"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yi Zhang","raw_affiliation_strings":["Tsinghua University,Department of Automation,Beijing,China,100084"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Automation,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5105404674","display_name":"Yujin Qi","orcid":"https://orcid.org/0000-0002-1929-1624"},"institutions":[{"id":"https://openalex.org/I4210158959","display_name":"Detection Limit (United States)","ror":"https://ror.org/03mcj3013","country_code":"US","type":"company","lineage":["https://openalex.org/I4210158959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuliang Qi","raw_affiliation_strings":["Hebei Expressway Group Co., Ltd.,Jingxiong Branch"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hebei Expressway Group Co., Ltd.,Jingxiong Branch","institution_ids":["https://openalex.org/I4210158959"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110375647","display_name":"Shuqing Jin","orcid":null},"institutions":[{"id":"https://openalex.org/I4210158959","display_name":"Detection Limit (United States)","ror":"https://ror.org/03mcj3013","country_code":"US","type":"company","lineage":["https://openalex.org/I4210158959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shuqing Jin","raw_affiliation_strings":["Hebei Expressway Group Co., Ltd.,Jingxiong Branch"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hebei Expressway Group Co., Ltd.,Jingxiong Branch","institution_ids":["https://openalex.org/I4210158959"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2025","last_page":"2032"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10698","display_name":"Transportation Planning and Optimization","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/3313","display_name":"Transportation"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T12546","display_name":"Smart Parking Systems Research","score":0.9912999868392944,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6378583908081055},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4931911826133728},{"id":"https://openalex.org/keywords/traffic-flow","display_name":"Traffic flow (computer networking)","score":0.4816502630710602},{"id":"https://openalex.org/keywords/flow","display_name":"Flow (mathematics)","score":0.4564078748226166},{"id":"https://openalex.org/keywords/flow-control","display_name":"Flow control (data)","score":0.4199327528476715},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.3312579095363617},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.3292080760002136},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17984247207641602},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1687033474445343},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.07633963227272034},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07285931706428528}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6378583908081055},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4931911826133728},{"id":"https://openalex.org/C207512268","wikidata":"https://www.wikidata.org/wiki/Q3074551","display_name":"Traffic flow (computer networking)","level":2,"score":0.4816502630710602},{"id":"https://openalex.org/C38349280","wikidata":"https://www.wikidata.org/wiki/Q1434290","display_name":"Flow (mathematics)","level":2,"score":0.4564078748226166},{"id":"https://openalex.org/C186766456","wikidata":"https://www.wikidata.org/wiki/Q612457","display_name":"Flow control (data)","level":2,"score":0.4199327528476715},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.3312579095363617},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.3292080760002136},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17984247207641602},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1687033474445343},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.07633963227272034},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07285931706428528}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iv64158.2025.11097644","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv64158.2025.11097644","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G8508485082","display_name":null,"funder_award_id":"62133002","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W2005098683","https://openalex.org/W2548722511","https://openalex.org/W2593140559","https://openalex.org/W2899684168","https://openalex.org/W2903709398","https://openalex.org/W2962681260","https://openalex.org/W2963135764","https://openalex.org/W2964336994","https://openalex.org/W2980571877","https://openalex.org/W2995398432","https://openalex.org/W3158914004","https://openalex.org/W4392489838","https://openalex.org/W4400645400","https://openalex.org/W4401414101","https://openalex.org/W4406611083","https://openalex.org/W4407950918","https://openalex.org/W4413010841","https://openalex.org/W6741477277","https://openalex.org/W6742134330","https://openalex.org/W6766306377","https://openalex.org/W6769135246","https://openalex.org/W6772252023","https://openalex.org/W6805578916"],"related_works":["https://openalex.org/W2111375262","https://openalex.org/W2317728013","https://openalex.org/W4252076617","https://openalex.org/W1991205173","https://openalex.org/W2109048960","https://openalex.org/W2741481635","https://openalex.org/W2338537463","https://openalex.org/W2183644707","https://openalex.org/W210698821","https://openalex.org/W2180469977"],"abstract_inverted_index":{"In":[0],"contemporary":[1],"society,":[2],"autonomous":[3],"driving":[4],"systems":[5],"face":[6],"enormous":[7],"challenges":[8],"in":[9,60,218],"various":[10],"aspects,":[11],"including":[12],"the":[13,67,96,157,160,166,171,189,202],"environment,":[14],"traffic":[15,86,196],"participants,":[16],"and":[17,31,38,70,92,109,140,170,198,201,215,223],"communication.":[18],"The":[19,185],"primary":[20],"task":[21],"of":[22,72,75,117,159,210,220],"achieving":[23],"vehicle":[24,76],"autonomy":[25],"is":[26,125,179],"to":[27,181],"ensure":[28],"that":[29,88,113,136,188],"Connected":[30],"Automated":[32],"Vehicles":[33,42],"(CAVs)":[34],"can":[35,194],"cooperate":[36],"safely":[37],"efficiently":[39],"with":[40,62,133],"Human-Driven":[41],"(HDVs).":[43],"Previous":[44],"research":[45,82,186],"mainly":[46],"focused":[47],"on":[48,84,128,165],"strategies":[49],"for":[50,207],"purely":[51],"CAV":[52],"scenarios":[53],"or":[54],"treated":[55],"HDVs":[56,91],"as":[57],"random":[58],"factors":[59],"traffic,":[61],"relatively":[63],"few":[64],"studies":[65],"considering":[66,156],"synchronous":[68],"inducement":[69,106,124,168,192],"control":[71,107,204],"both":[73,90,115,138,208],"types":[74,116,209],"within":[77],"a":[78,110,144,174],"unified":[79],"framework.":[80],"This":[81],"focuses":[83],"mixed":[85],"flow":[87],"includes":[89,137],"CAVs,":[93],"specifically":[94],"addressing":[95],"merging":[97,151],"problem":[98],"at":[99],"highway":[100],"on-ramp":[101],"entrances.":[102],"We":[103],"propose":[104],"an":[105],"method":[108],"planning":[111,177,224],"framework":[112,205],"target":[114],"vehicles":[118,211],"simultaneously.":[119],"For":[120,148],"upstream":[121,161],"HDVs,":[122],"speed":[123,167,191,222],"implemented":[126],"based":[127,164],"time":[129],"series":[130],"predictions,":[131],"along":[132],"behavior":[134],"modeling":[135],"internal":[139],"external":[141],"uncertainties":[142,158],"using":[143],"Gaussian":[145],"mixture":[146],"model.":[147],"ramp":[149],"vehicles,":[150],"decisions":[152],"are":[153],"made":[154],"while":[155],"vehicles.":[162],"Furthermore,":[163],"strategy":[169,193],"decision":[172],"module,":[173],"cooperative":[175,203],"uncertainty-aware":[176],"model":[178],"constructed":[180],"achieve":[182],"motion":[183],"planning.":[184],"demonstrates":[187],"proposed":[190],"improve":[195],"safety":[197],"driver":[199],"experience,":[200],"designed":[206],"exhibits":[212],"real-time":[213],"functionality":[214],"performs":[216],"excellently":[217],"terms":[219],"computation":[221],"success":[225],"rates.":[226]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
