Multiplatooning Leaders Positioning and Cooperative Behavior Algorithms of Communicant Automated Vehicles for High Traffic Capacity

Abstract—Multiplatooning leaders positioning and cooperative behavior strategies are proposed in this paper, to improve the efficiency of a traffic system of communicant automated vehicles evolving on dedicated lanes. Novel algorithms to ensure high traffic capacity are presented and MATLAB/Simulink-based sim-ulation results are reported. In previous research work, we pro-posed new algorithms to mitigate communication delays effects on platoon string stability using anticipatory information. In this paper we consider constant spacing between platoons ’ leaders as a fundamental condition to attain high traffic capacity. New algorithms to maintain interplatoon leaders ’ constant spacing are proposed, as well as novel algorithms allowing vehicles to enter the main track cooperatively. Furthermore, a new set of algorithms to improve safety is also presented. A novel agent-based architecture was developed, in which each vehicle consists of two distinct modules, a leader and a follower. Based on MATLAB/Simulink simulations of several scenarios, the new algorithms are assessed and the simulation results presented, confirming that the proposed algorithms ensure high traffic capacity and vehicle density and avoid traffic congestion. These features were validated through simulations performed on the Simulation for Urban Mobility sim-ulation platform, using a new car-following model implementation [10]. The results proved that the proposed algorithms enable a clear benefit of a platooning system, when compared with bus- and light-rail-based transit systems. Index Terms—Advanced traffic management system (ATMS), cooperative automated vehicles (CAVs), cooperative behavior, high traffic capacity, intervehicle communications (IVC), multiplatoon-ing leaders positioning, personal rapid transit (PRT), platoon leaders ’ constant spacing, platooning, safety improvement, traffic simulation. I