Algorithms for Management of a Multi-Platooning System of IVC-enabled Autonomous Vehicles, with High Traffic Capacity

Abstract — Intra-platoon positioning management strategies to deal with safe and efficient advanced traffic management system operation are proposed in this paper. New algorithms to ensure high traffic capacity are proposed, and Matlab/Simulink-based simulation results are reported. Recently, we proposed new algorithms to mitigate communication delays using anti-cipatory information, both from the platoon’s leader and the followers, with significant impact on the improvement of platoon string stability [5]. In this paper, we argue that maintaining a constant spacing between platoons ’ leaders has a positive impact on the traffic capacity of the whole system. As such, when the leader and eventually other vehicles immediately behind it leave the platoon, the new leader must accelerate to reach the position of the previous leader, to ensure inter-leader constant spacing and, consequently, enough spacing to be eventually occupied by new followers. We developed a novel architecture where each vehicle consists of two distinct modules: a leader and a follower. Based on Matlab/Simulink-based simulation, the new algorithms are assessed, and simulation results presented. The obtained simu-lation results confirm that the proposed algorithms adapt the acceleration pattern, ensuring similar timings for all possible cases of the previous position of new leaders in the platoon, when performing their repositioning maneuvers. I