Selecting the Two Vehicles to Form the Secure Slot
From figure 3 we can know that, in every scheme, the left figure is the secure slot distributions under different velocity relationships, and the right figure is the length of the secure slot when setting the single-vehicle a specific velocity(36km/h, 72km/h, and 90 km/h). The green, blue, and purple circles indicate where the secure slot is more than 100 meters. Also, we get that, the length of the secure slot will attend 80 meters when the velocity of the single-vehicle is in some particular domain of velocity in scheme 1, 3, and 4. However, for scheme 2, the maximum length of the secure slot is less than 80 meters, which means this scheme needs the minimum slot to make the single-vehicle merge into the platoon in the same situation. In conclusion, for getting the minimum secure slot, the velocity of the single-vehicle should less than the preceding vehicle but higher than the rear vehicle.
- C. Selecting the Two Vehicles to Form the Secure Slot
The process of forming a secure slot is a multi-objective optimization process. To better describe the process of forming the secure slot by selecting two vehicles in the platoon. This paper sets parameters as follows, denotes the speed limit of the two-lane two way, and denote the acceleration time, deceleration time, and the whole overtaking time of the single-vehicle, respectively, and denote the maximum acceleration and the merging deceleration of the single-vehicle. During the whole process of SVOP, and denote the acceleration time of the preceding vehicle and the deceleration time of the rear vehicle, respectively. Denotes the velocity of the vehicles in the platoon, where there is, and denotes the maximum acceleration and deceleration of the vehicle in the platoon. Denotes the time headway of two adjacent vehicles in the platoon. The distance between the single-vehicle and the opposite vehicle is, denotes the number of vehicles that be overtaken by the single vehicle in the first overtaking step. Also, the velocity of the opposite vehicle is considered constant.