A computer-implemented method for controlling a platoon of vehicles through a ramp intersection, the method comprising: receiving location data for at least a first vehicle of the platoon of vehicles; map matching the location data for the first vehicle to a road network; identifying a ramp intersection in the road network in response to the matched location data; determining a time period for the intersection, wherein determining the time period for the intersection comprises: receiving traffic data for the ramp; and calculating, based on the traffic data, a time until the ramp includes space for the platoon of vehicles; calculating a distance to the intersection for the last vehicle of the platoon of vehicles; calculating a travel time based on the distance to the intersection for the last vehicle of the platoon of vehicles; performing a comparison of the time period for the intersection to the travel time for the last vehicle; and generating a platoon command to perform one of: maintain a route of the platoon, a speed of the platoon, a formation of the platoon, or a combination thereof in response to the comparison indicating that the platoon can fit the ramp; or make an adjustment of the platoon such that the ramp does not interrupt the cohesion of the platoon, wherein the adjustment is made in response to the comparison indicating that the platoon cannot fit the ramp, and wherein the adjustment comprises one or more of: speed up the platoon to reach the ramp before congestion causes the capacity of the ramp to be too low, slow down the platoon to give time for the traffic to clear and the capacity of the ramp to increase, reroute the platoon to find another ramp with enough capacity, reduce the gap distance between vehicles in the platoon of vehicles, and adjust the formation of the platoon from a single line platoon to have two or more parallel lines to allow the platoon to fit in the ramp, wherein the platoon command instructs the first vehicle or a second vehicle (41B-N) to perform the adjustment. receiving location data for at least a first vehicle of the platoon of vehicles; map matching the location data for the first vehicle to a road network; identifying a ramp intersection in the road network in response to the matched location data; determining a time period for the intersection, wherein determining the time period for the intersection comprises: receiving traffic data for the ramp; and calculating, based on the traffic data, a time until the ramp includes space for the platoon of vehicles; receiving traffic data for the ramp; and calculating, based on the traffic data, a time until the ramp includes space for the platoon of vehicles; calculating a distance to the intersection for the last vehicle of the platoon of vehicles; calculating a travel time based on the distance to the intersection for the last vehicle of the platoon of vehicles; performing a comparison of the time period for the intersection to the travel time for the last vehicle; and generating a platoon command to perform one of: maintain a route of the platoon, a speed of the platoon, a formation of the platoon, or a combination thereof in response to the comparison indicating that the platoon can fit the ramp; or make an adjustment of the platoon such that the ramp does not interrupt the cohesion of the platoon, wherein the adjustment is made in response to the comparison indicating that the platoon cannot fit the ramp, and wherein the adjustment comprises one or more of: speed up the platoon to reach the ramp before congestion causes the capacity of the ramp to be too low, slow down the platoon to give time for the traffic to clear and the capacity of the ramp to increase, reroute the platoon to find another ramp with enough capacity, reduce the gap distance between vehicles in the platoon of vehicles, and adjust the formation of the platoon from a single line platoon to have two or more parallel lines to allow the platoon to fit in the ramp, wherein the platoon command instructs the first vehicle or a second vehicle (41B-N) to perform the adjustment. maintain a route of the platoon, a speed of the platoon, a formation of the platoon, or a combination thereof in response to the comparison indicating that the platoon can fit the ramp; or make an adjustment of the platoon such that the ramp does not interrupt the cohesion of the platoon, wherein the adjustment is made in response to the comparison indicating that the platoon cannot fit the ramp, and wherein the adjustment comprises one or more of: speed up the platoon to reach the ramp before congestion causes the capacity of the ramp to be too low, slow down the platoon to give time for the traffic to clear and the capacity of the ramp to increase, reroute the platoon to find another ramp with enough capacity, reduce the gap distance between vehicles in the platoon of vehicles, and adjust the formation of the platoon from a single line platoon to have two or more parallel lines to allow the platoon to fit in the ramp, speed up the platoon to reach the ramp before congestion causes the capacity of the ramp to be too low, slow down the platoon to give time for the traffic to clear and the capacity of the ramp to increase, reroute the platoon to find another ramp with enough capacity, reduce the gap distance between vehicles in the platoon of vehicles, and adjust the formation of the platoon from a single line platoon to have two or more parallel lines to allow the platoon to fit in the ramp, wherein the platoon command instructs the first vehicle or a second vehicle (41B-N) to perform the adjustment.