Cooperative vehicle ramp afflux method and device, computer equipment and storage medium

The invention relates to a collaborative vehicle ramp afflux method and device, computer equipment, a storage medium and a computer program product. The method comprises the following steps: for a to-be-converged target vehicle on a ramp, determining a current convergence scene type according to a relative position relationship between at least two reference vehicles; according to the current positions and the current vehicle speeds of the target vehicle and the reference vehicles, predicting a reference confluence time difference between every two adjacent vehicles arriving at the confluence point and a reference relative distance between every two adjacent reference vehicles under the condition that the target vehicle arrives at the confluence point; and based on the current confluence scene type, according to the reference confluence time difference and the reference relative distance, the confluence speed of the target vehicle and the first type of reference vehicle is adjusted. Collaborative decision mak