## 4 Conclusions  
This study was conducted to enable smooth, safe, and energy-efficient truck platooning under the CVIS environment in the weaving section of a highway by optimizing the speed of truck platooning and setting an appropriate lane management strategy. By combining the MPC and CTM methods, an optimal speed control model for truck platooning was constructed based on multi-objective optimization in the CVIS environment. The model considers factors such as the maximum flow of bottleneck cells, shortest overall vehicle travel time, and minimum fuel consumption and employs NSGA-II to solve multi-objective optimization. The Wuxi section of a two-way eight-lane Nanjing-Shanghai highway was selected as the experimental setting. Accordingly, a mixed traffic flow simulation platform was built, and two scenarios were set to evaluate truck lane management strategies and the speed of truck platooning. The results indicate improved performance when truck platooning in separation phase passing through the weaving section is set. When the proportion of all trucks exceeds 15%, it is recommended to open the second lane for HDT driving. When the proportion of truck platooning exceeds 20% of the total traffic volume, it is recommended to set up an exclusive lane for truck platooning. Indicators such as delay and conflict rate show that the passing effect of truck platooning under optimal speed control is better than that in the absence of control.  
The key parameters in the car-following and lane-changing model for truck platooning and ordinary vehicles in this study were obtained from references and calibrated in accordance with real data. However, parameters require further calibration in more prominent highway scenarios. Since interaction between truck platooning and ordinary vehicles in the weaving section is complex, the means by which a better balance between the efficiency of macro-level traffic operations and the efficiency of the truck platooning system itself can be accomplished will be the subject of subsequent research.  
Conceptualization, Y.R.; methodology, Y.R. and S.W.; validation, S.W. and R.W.; formal analysis, S.W. and R.W.; investigation, Z.S.; resources, Y.R.; writing--original draft preparation, S.W.; writing--review and editing, Y.R.; visualization, S.W. and Z.S.; supervision, Y.R.; project administration, Y.R.; funding acquisition, Y.R. All authors have read and agreed to the published version of the manuscript.  
This research was supported by the Key R&D Program of Shandong Province, China (grant no. 2020 CXGC010118).  
Figure 8: Comparison of different lanes with the 4F32T strategy.  
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