Vehicle dynamic merging control method and system for mixed traffic flow

The invention discloses a vehicle dynamic merging control method and system for a mixed traffic flow. Comprising a virtual track determination module, a merging area positioning module, a pairing condition determination module, a merging vehicle pairing module and a vehicle merging control module. The virtual trajectory determination module determines instantaneous virtual trajectories corresponding to the main road vehicles and the ramp vehicles. And the merging area positioning module determines the coordinates of the intersection of the main road vehicle and the ramp vehicle through the instantaneous virtual trajectory, so as to position a safe merging area. And the pairing condition determination module determines a pairing condition according to the intersection condition of the instantaneous virtual tracks corresponding to the two continuous main road vehicles and the instantaneous virtual tracks of the ramp vehicles in the safe merging area. And the merging vehicle pairing module is used for pairing th