Merging Sequence Optimization Based on Reverse Auction Theory and Merging Strategy with Active Trajectory Adjustment of Heterogeneous Vehicles

Table 3

Comparison of results of different optimization methods.

Penetration of CAV	Optimal FIFO-MS system framework	Average computation time (ms)	Computation efficiency	Total time for merging process (s)
0.1	Reverse auction-based optimization system	28.44		268.5
	Centralized optimization system	30.61
0.3	Reverse auction-based optimization system	89.68		243.7
	Centralized optimization system	113.47
0.5	Reverse auction-based optimization system	95.26		178
	Centralized optimization system	177.39
0.7	Reverse auction-based optimization system	122.22		162
	Centralized optimization system	235.32
0.9	Reverse auction-based optimization system	226.2		137.3
	Centralized optimization system	506.58