A Platoon Formation Framework in a Mixed Traffic Environment

Connected and automated vehicles (CAVs) provide the most intriguing opportunity to reduce pollution, energy consumption, and travel delays. In this letter, 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 input and the conditions under which a platoon formation is feasible. We evaluate the solution and demonstrate the efficacy of the proposed framework using simulation.