Carma-platform v4.2.0
CARMA Platform is built on robot operating system (ROS) and utilizes open source software (OSS) that enables Cooperative Driving Automation (CDA) features to allow Automated Driving Systems to interact and cooperate with infrastructure and other vehicles through communication.
platooning_tactical_plugin

Tactical plugin for the Integrated Highway Prototype 2 (IHP2) implementation which allows platooning to include front and rear merge joins. Note despite the name, as of Aug 2022 testing for this IHP2 implementation was only up to 35mph on a closed test track per limitations of the CARMA Platform system.

Overview https://usdot-carma.atlassian.net/wiki/spaces/CUCS/pages/2392981532/Basic+Travel+and+IHP

Design https://usdot-carma.atlassian.net/wiki/spaces/CRMPLT/pages/2138767361/IHP2+Platooning+Plugin