International Journal of Automotive Technology

, Volume 20, Issue 6, pp 1103–1112 | Cite as

Distributed Formation Control of Homogeneous Vehicle Platoon Considering Vehicle Dynamics

  • Liwei Xu
  • Weichao Zhuang
  • Guodong YinEmail author
  • Chentong Bian


Vehicle dynamics plays a significant role on the formation of a vehicle platoon, especially at high speed condition. This paper proposes a distributed platoon formation framework for homogeneous autonomous vehicles which takes the vehicle dynamics into consideration. The boundaries of vehicle stability are firstly calculated by considering both lateral dynamics and actuator saturation. By combining the stability boundaries with multi-objective flocking (MOF) algorithm, a distributed formation controller is designed, which can form the vehicle platoon with high cruising speed steadily and rapidly. In addition, a low-level tracking controller is proposed to constitute a hierarchical control architecture which can achieve stable and accurate formation of platoon. Simulation results show the proposed platoon formation controller achieves safe, stable and rapid platoon formation than the traditional MOF-based formation controller which does not consider the vehicle dynamics.

Key words

Platoon formation control Homogeneous system Vehicular dynamic constraints Autonomous vehicle 


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This work was supported by the National Natural Science Foundation of China under Grants 51575103, U1664258 and 51805081, National Key R&D Program in China under Grants 2016YFB0100906 and 2016YFD0700905, and Scientific Research Foundation of Graduate School of Southeast University under Grant YBJJ1704.


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Copyright information

© KSAE/ 111-03 2019

Authors and Affiliations

  • Liwei Xu
    • 1
  • Weichao Zhuang
    • 1
  • Guodong Yin
    • 1
    Email author
  • Chentong Bian
    • 1
  1. 1.School of Mechanical Engineering, Vehicle EngineeringSoutheast UniversityNanjingChina

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