Platoon forming algorithms for intelligent street intersections

R.W. Timmerman (Corresponding author), M.A.A. Boon

Research output: Contribution to journalArticleAcademicpeer-review

14 Citations (Scopus)


We study intersection access control for autonomous vehicles. Platoon forming algorithms, which aim to organize individual vehicles in platoons, are very promising. To create those platoons, we slow down vehicles before the actual arrival at the intersection in such a way that each vehicle can traverse the intersection at high speed. This increases the capacity of the intersection significantly, offering huge potential savings with respect to travel time compared to nowadays traffic. We propose several new platoon forming algorithms and provide an approximate mean delay analysis for our algorithms. A comparison between the current day practice at intersections (through a case study in SUMO) and our proposed algorithms is provided. Simulation results for fairness are obtained as well, showing that platoon forming algorithms with a low mean delay sometimes are relatively unfair, indicating a potential need for balancing mean delay and fairness.

Original languageEnglish
Pages (from-to)278-307
Number of pages30
JournalTransportmetrica A: Transport Science
Issue number3
Early online date26 Nov 2019
Publication statusPublished - 19 Feb 2021


  • autonomous vehicles
  • Platoon forming algorithms
  • polling models
  • queueing theory
  • speed control algorithms


Dive into the research topics of 'Platoon forming algorithms for intelligent street intersections'. Together they form a unique fingerprint.

Cite this