Intelligent network connection vehicle ramp cooperative confluence control method and device in mixed traffic environment

The invention discloses an intelligent network connection vehicle ramp cooperative confluence optimization control method and device in a mixed traffic environment. The control method comprises the following steps: constructing a vehicle state equation; setting a vehicle control target and a control constraint, wherein the vehicle control target comprises the minimum driving time and the minimum energy consumption and the control constraints comprise vehicle power constraints, safe vehicle following constraints and safe confluence constraints; and constructing a recursive optimal control framework to control the vehicle, wherein the recursive optimal control framework adopts recursive optimal control, and the method comprises the steps of collecting information of a man-driven vehicle in real time through the intelligent network connection vehicle and re-planning a track of the intelligent network connection vehicle so as to meet the control constraint all the time. According to the entrance ramp confluence c