The Internet of Things (IoT) facilitates vehicle communication using wireless networks to improve safety, mobility, and efficiency in transportation. Autonomous vehicles (AVs) can use IoT to form a platoon and travel cooperatively to a common destination as connected autonomous vehicles (CAVs). In our previous work, we demonstrated platoon negotiation and formation between two vehicles or IoT nodes using Dedicated Short Range Communication (DSRC)-based messages only. This paper extends these algorithms to support multi-vehicle platoon negotiation and formation using DSRC messages for AVs. To achieve this, once two vehicles negotiate and form a platoon, the platoon member (PM) sends a platoon-complete negotiation to the platoon leader (PL) after the string stability is achieved. Once PL receives this message, it makes itself available to receive negotiations from nearby vehicles who are willing to join its platoon. We modified our platoon-ready, pre-negotiation, negotiation resolver, and platoon joiner algorithms from our prior work. Also, PL maintains the PM vehicle IDs and their position so that it can assign a local leader to the future vehicles joining the platoon. Now, the vehicle willing to platoon negotiates with PL to check if their destinations match. If a common destination is found, the new vehicle further negotiates with PL in a series of transactions to join the existing platoon. During these negotiations, PL assigns the last joined PM as a local leader to this newly joined vehicle to follow. Then, PL adds the new PM vehicle ID and its position to the list. Assigning a local leader not only increases the range of the platoon but also decreases the delay in the message exchange. We demonstrated the above algorithms in the CARLA simulator by extending them to support IoT connectivity and platooning. We validated the algorithms by conducting experiments with three-vehicle platooning scenarios.


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