A Review of Connected and Automated Vehicle Platoon Merging and Splitting Operations

Connected and automated vehicle (CAV) platoons have drawn much attention in the past decades, given their potential to reduce fuel consumption, elevate roadway capacity, and enhance traffic safety. As two basic platoon operations, platoon merging and splitting have been widely investigated. This study provides an overview of theoretical models and field experiments of CAV platoon merging and splitting operations. A three-step framework, including protocol design, trajectory planning, and vehicle control, is proposed to unify existing representative studies. Methodological techniques in each step are summarized and discussed. Finally, future research directions are discussed. This study contributes to the literature by providing a framework that categorizes relevant literature and guides the successful development of platoon merging and splitting operations. More importantly, it offers researchers and practitioners a rich reference for further investigations.