Coordinated Multi-Platooning Planning for Resolving Sudden Congestion on Multi-Lane Freeways

Resolving traffic congestion caused by sudden events (e.g., an accident, lane closed due to construction) on the freeway has always been a problem that is challenging address perfectly. The resolution can take hours if severe, and vehicles must voluntarily line up exit spots. Most state-of-the-art scheduling schemes often rely signal controllers mitigate in fixed areas intersection, blocked areas). Unlike existing studies, this work, we introduce novel decentralized coordinated platooning planning method, namely Coordinated Platooning Planning (CPP), for quickly resolving temporary any place multi-lane freeways heuristically. First, based warning notifications about congestion, propose maneuver control protocol enables negotiate with surrounding determine consensus plan forming platoons (who platoon leader, value of distance gap, vehicle velocity, size) sequential areas. After creating platoons, each leader commands their members through urge move close or merge into same lane. Finally, chains safely using scheduled orders. simulation results demonstrate proposed heuristic approach reduce 22% delay last few driving area typical density cases best size configuration, which significant enhancement compared schemes.