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Timo Schlegel, "Design of a V2V-based Cooperative Re-Ordering Maneuver for Platoons on Freeways," Bachelor Thesis, School of Electrical Engineering and Computer Science (EECS), TU Berlin (TUB), February 2022. (Advisor: Julian Heinovski; Referees: Falko Dressler and Thomas Sikora)


Driving in a platoon can have a positive impact on the comfort and safety of auto-mobility. In order to get the most benefits, the ordering of the platooning cars has to be considered. When cars are not in an optimal ordering, the cars have to re-order. This thesis shows the design of an algorithm which performs a synchronized re-ordering maneuver that can work on a conventional highway, which is also used by other vehicles. It includes the planning of the maneuver succession and finally the execution. The platooning vehicles communicate via Vehicle-to-Vehicle Communication (V2V) to coordinate their movements. After modelling the algorithm in form of a Finite State Machine (FSM), I implemented it in a traffic simulation software to examine its feasibility. The algorithm was tested and in real-world simulations including unreliable communication interfering traffic. Among other things, it outperformed a simpler algorithm regarding the time spent on the overtaking lane. It emerged, that the proposed algorithm is especially suitable for platoons with at least 5 cars in it.

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Timo Schlegel

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    author = {Schlegel, Timo},
    title = {{Design of a V2V-based Cooperative Re-Ordering Maneuver for Platoons on Freeways}},
    advisor = {Heinovski, Julian},
    institution = {School of Electrical Engineering and Computer Science (EECS)},
    location = {Berlin, Germany},
    month = {2},
    referee = {Dressler, Falko and Sikora, Thomas},
    school = {TU Berlin (TUB)},
    type = {Bachelor Thesis},
    year = {2022},

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