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The problem of maximizing the probability of two trucks being coordinated tomerge into a platoon on a highway is considered. Truck platooning is apromising technology that allows heavy vehicles to save fuel by driving withsmall automatically controlled inter-vehicle distances. In order to leveragethe full potential of platooning, platoons can be formed dynamically en routeby small adjustments to their speeds. However, in heavily used parts of theroad network, travel times are subject to random disturbances originating fromtraffic, weather and other sources. We formulate this problem as a stochasticdynamic programming problem over a finite horizon, for which solutions can becomputed using a backwards recursion. By exploiting the characteristics of theproblem, we derive bounds on the set of states that have to be explored atevery stage, which in turn reduces the complexity of computing the solution.Simulations suggest that the approach is applicable to realistic probleminstances.

Efficient Dynamic Programming Solution to a Platoon Coordination Merge Problem With Stochastic Travel Times