The cooperative sorting strategy for connected and automated vehicle platoons

• We propose a cooperative sorting strategy for CAV platoons. The optimal cost is found with the A* algorithm. A coordinate system designed further minimizing time. distributed and stochastic algorithm proposed to improve performance. This paper presents “cooperative vehicle sorting” that seeks optimally sort connected automated vehicles (CAVs) in multi-lane platoon reach an ideally organized platoon. In method, firstly discretized into grid system, where moves from one cell another discrete time-space domain. Then, problem modeled as path-finding graphic solved by deterministic stepwise strategy, only can move within movement step. resultant shortest path optimized integer linear programming minimize time allowing multiple movements To running address paths, (DSA*) developed introducing random disturbances edge costs break uniform paths (with equal cost). Numerical experiments are conducted demonstrate effectiveness of DSA* method. results report shorter significantly improved due use DSA*. addition, we find optimization performance be increasing number processes computing system.