Abstract
Platooning has been identified as a promising strategy towards energy, time management and throughput. In such, a Platoon Leader (PL) provides the Platoon Members (PMs) with autonomous driving service to specific locations. This paper investigates and presents an approach for formulating an architecture to coordinate platoon manipulations while at transit rather than at signalized intersections. The data broadcast by the Vehicles are used to evaluate scores such that a PM can choose a PL and the Platoon analogous to it. Based on this, a multiple-stage platoon formation framework is put forward, which considers the aforementioned nature along with the assessment of an optimal velocity and position for the Incoming Member. It utilizes Vehicle-to-Vehicle communication and a negotiation algorithm based on Dynamic Games of Complete Information towards optimal and fair platoon formation. Simulation results demonstrate that the algorithm significantly reduces the energy consumption along with substantial time gains.
