A Coevolutionary Algorithm for Cooperative Platoon Formation of Connected and Automated Vehicles

This paper proposes a coevolutionary algorithm to optimize longitudinal trajectories of multiple vehicles with an energy-aware non-linear objective during the cooperative platoon formation process. In this work, an adaptive encoding scheme is adopted to represent trajectories as knot vectors of parametric cubic splines, and therefore the original problem is reformulated into a constrained numerical optimization version. The number of knots can …