The increase of traffic jam has become one of the serious social problems. It has been estimated that the loss due to traffic jam in Japan is more than 7 billions yen. The next generation vehicles are being proposed and under development. In the near future, "driving automatically" will become a common technology in our daily life. The first step to solve the problem of traffic jam is to drive cars automatically. The concept of "platoon" is proposed. However, the formation of platoon has several problems. So we propose a platoon-formation algorithm, in which each platoon considers the vehicle destination when constructing and merging the platoon.
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