在智能网联环境下，为减少匝道合流区内车辆冲突、提高合流区加速路段车辆的舒适性与通行效率，提出了基于合作博弈的合流区车辆协同控制方法。首先，根据高速公路合流区道路条件和车辆运行状态，综合考虑行车舒适度成本和车辆通行延误构建加速路段车辆行驶的目标成本函数；然后，应用合作博弈对车辆通行次序进行分析，得到目标成本最小的车辆通行序列，并引入拉格朗日矢值函数求解车辆运动方程，推导出车辆在加速路段运行的最优纵向轨迹规划解析解。最后，以武汉市二环线某立体交叉口集散车道及匝道形成的合流区为例，构建合流场景并进行仿真实验，结果表明，相比于“先进先出”序列，所提合作博弈序列可使车辆行驶总成本降低4.54%，同时在保证车辆通行效率的前提下，使车辆行驶舒适度成本降低78.38%。这表明，在智能网联环境下，基于合作博弈的车辆序列能保持较高的通行效率，能提高行车舒适性。

In the intelligent connected environment, in order to reduce vehicle conflicts in the ramp merging area and improve the comfort and traffic efficiency of vehicles on the acceleration section of merging area, a collaborative control method for vehicles in merging area based on cooperative game was proposed. Firstly, based on the road conditions and vehicle operating status in the expressway merging area, the driving comfort cost and vehicle traffic delays were comprehensively considered to construct a target cost function for vehicle driving on the acceleration section. Then, cooperative game was applied to analyze the traffic sequence, and the traffic sequence with the minimum target cost was obtained. Lagrangian vector value function was applied to solve the vehicle motion equation, and the optimal longitudinal trajectory planning analytical solution of the vehicle running on the acceleration section was derived. Finally, taking the merging area formed by the collector lane and ramp of a graded intersection on the Second Ring Road in Wuhan as an example, a merging scenario was constructed and a simulation experiment was conducted. The results showed that compared with the "first in, first out" sequence, the proposed sequence based on cooperative game could reduce the total vehicle driving cost by 4.54%, and it could reduce the vehicle driving comfort cost by 78.38% while ensuring vehicle traffic efficiency. This indicates that under intelligent connected environment, the vehicle sequence based on cooperative game can maintain high traffic efficiency and improve driving comfort.