Many studies have demonstrated the potential benefits of connected and autonomous vehicles (CAVs) platooning to energy consumption and traffic efficiency. However, how to implement platoon formation, which assigns and regulates vehicles scattered in different lanes to platoons, while reducing vehicle delay and time consumption remains an open issue. Besides, most existing studies require a predetermined platoon configuration, which decreases maneuverability. This paper proposes a multilane platoon formation strategy with undefined configurations. The vehicle sequence in newly formed platoons along with the longitudinal trajectories of all vehicles before changing lanes is optimized in a nonlinear programming model. The multi-objective function considers the average velocity of all CAVs and the time consumption of formation. A Fibonacci search algorithm with an embedded mixed integer linear programming (MILP) model is developed to obtain solutions efficiently. The numerical experiments indicate the superiority of the proposed method in optimizing the vehicles' trajectories and improving multi-lane platoon formation efficiency.
Trajectory Optimization for Multi-Lane Platoon Formation with Undefined Configurations
2023-09-24
616654 byte
Conference paper
Electronic Resource
English
Trajectory planner for platoon lane change*
IEEE | 2021
|On Platoon Formation on Two-Lane Roads
NTIS | 1977
|Ad-hoc platoon formation and dissolution strategies for multi-lane highways
Taylor & Francis Verlag | 2023
|Multi-Vehicle Trajectory Design During Cooperative Adaptive Cruise Control Platoon Formation
Transportation Research Record | 2020
|