Intelligent networked vehicle on-ramp convergence control protocol based on mixed traffic flow

The invention discloses an intelligent networked vehicle on-ramp convergence control protocol based on mixed traffic flow. The protocol comprises the following steps: congestion judgment; the area is divided into an afflux area, a way giving area and a deceleration area; a following state; calculating estimated lane changing time according to the average vehicle speed; designing an ideal confluence control interval according to the safe acceleration; and when the upper ramp is judged to be congested, the intelligent network connection vehicles in the way giving area, the afflux area and the deceleration area are controlled in different areas. According to the method, benefits and risks of the whole system are considered, a relatively balanced control protocol design is carried out, the proposed ideal main road vehicle control distance can effectively ensure the lane changing requirement of the vehicles on the ramp in a crowded period, and intelligent network connection vehicles are not required to be grouped