  In this paper, we propose an optimization framework for cooperative merging
of platoons of connected and automated vehicles at highway on-ramps. The
framework includes (1) an optimal scheduling algorithm, through which, each
platoon derives the sequence and time to enter the highway safely, and (2) an
optimal control algorithm that allows each platoon to derive its optimal
control input (acceleration/deceleration) in terms of fuel consumption. We
evaluate the efficacy of the proposed optimization framework through
VISSIM-MATLAB simulation environment. The proposed framework significantly
reduces the crossing time and fuel consumption of platoons at the highway
on-ramps.
