Connected and automated vehicles (CAVs) provide the most intriguing opportunity to reduce pollution, energy consumption, and travel delays. In this paper, we address the problem of vehicle platoon formation in a traffic network with partial CAV penetration rates. We investigate the interaction between CAV and human-driven vehicle (HDV) dynamics, and provide a rigorous control framework that enables platoon formation with the HDVs by only controlling the CAVs within the network. We present a complete analytical solution of the CAV control policy and the conditions under which a platoon formation is feasible. We evaluate the solution and demonstrate the efficacy of the proposed framework using numerical simulation.
@article{arxiv.2103.03393,
title = {A Platoon Formation Framework in a Mixed Traffic Environment},
author = {A M Ishtiaque Mahbub and Andreas A. Malikopoulos},
journal= {arXiv preprint arXiv:2103.03393},
year = {2021}
}