Vehicle ramp confluence cooperative control method considering energy consumption of multiple vehicle types

The invention belongs to the field of intelligent vehicles and traffic, and particularly relates to a ramp confluence cooperative control method combined with vehicle model information. Comprising the following steps that (1) a confluence control area is set, and serial numbers are distributed to vehicles entering the control area according to the entering sequence; (2) the roadside central controller receives vehicle information, including vehicle running speed, acceleration and vehicle type information, and forms a corresponding data packet; (3) considering different characteristics such as quality and air resistance of different vehicle types, establishing an energy consumption function, and constructing a vehicle control method aiming at vehicle energy consumption, comfort and passing time; and (4) reducing the complexity of order optimization by using a pruning strategy. According to the invention, the passing efficiency when vehicles pass through the ramp and converge can be improved, and the energy con