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Qi Yu, "Investigating Cooperative Join and Merge Maneuvers for Platoons on Freeways," Master's Thesis, School of Electrical Engineering and Computer Science (EECS), TU Berlin (TUB), May 2022. (Advisor: Julian Heinovski; Referees: Falko Dressler and Thomas Sikora)


The concept of platooning means that vehicles travel cooperatively in groups with short vehicle spacing. Platooning can improve road throughput, enhance traffic stability and reduce CO2 emissions. Currently, the application scenarios for vehicle platooning are mainly on highways. A platoon allows new members to join or merge with another platoon, known as the join and merge maneuver. The scenarios considered in most of the current join and merge maneuver investigations are limited. For example, there is no consideration of interference or platoon’s vehicle order. Therefore, we propose Vehicle-to-Vehicle (V2V)-based cooperative join and merge maneuvers for platoons on the highway. The platoon has no requirement for a fixed lane when driving and performing a maneuver. Moreover, the vehicles involved in maneuver considers the interference of other road users when executing maneuvers. We do not assume that other road users are equipped with V2V communication systems. For each maneuver, we respectively developed the naive approach and coordinated approach. The naive approach means vehicles join at the head or tail of the platoon. The coordinated approach indicates that the vehicle joins at the position specified by the leader and thus maintains the optimal order of the platoon. We model the algorithm using finite state machines, perform extensive simulations in SUMO and Plexe, and study critical parameters of the algorithm. The results of simulation experiments show that in the benchmark scenario, the metrics of the coordinated join maneuver are slightly less performant than those of the naive join maneuver but maintain the optimal order of the platoon and are therefore more competitive. In some cases, it may be different, depending on the variation of the parameters. The performance of coordinated merge maneuver and naive merge maneuver differs significantly with the variation of parameters. The different focus of the two approaches is shown more clearly in the results. A naive merge maneuver is superior in execution duration, but a coordinated merge maneuver can still maintain the optimal order of the platoons. The platoon needs to choose the approach according to the situation and preference.

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Qi Yu

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    author = {Yu, Qi},
    title = {{Investigating Cooperative Join and Merge Maneuvers for Platoons on Freeways}},
    advisor = {Heinovski, Julian},
    institution = {School of Electrical Engineering and Computer Science (EECS)},
    location = {Berlin, Germany},
    month = {5},
    referee = {Dressler, Falko and Sikora, Thomas},
    school = {TU Berlin (TUB)},
    type = {Master's Thesis},
    year = {2022},

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