Journal of Systems Science and Complexity

, Volume 27, Issue 4, pp 605–631 | Cite as

Control of vehicle platoons for highway safety and efficient utility: Consensus with communications and vehicle dynamics

  • Le Yi WangEmail author
  • Ali Syed
  • Gang George Yin
  • Abhilash Pandya
  • Hongwei Zhang


Platoon formation of highway vehicles is a critical foundation for autonomous or semiautonomous vehicle control for enhanced safety, improved highway utility, increased fuel economy, and reduced emission toward intelligent transportation systems. Platoon control encounters great challenges from vehicle control, communications, team coordination, and uncertainties. This paper introduces a new method for coordinated control of platoons by using integrated network consensus decisions and vehicle control. To achieve suitable coordination of the team vehicles based on terrain and environmental conditions, the emerging technology of network consensus control is modified to a weighted and constrained consensus-seeking framework. Algorithms are introduced and their convergence properties are established. The methodology employs neighborhood information through on-board sensors and V2V or V2I communications, but achieves global coordination of the entire platoon. The ability of the methods in terms of robustness, disturbance rejection, noise attenuation, and cyber-physical interaction is analyzed and demonstrated with simulated case studies.


Collision avoidance communications consensus control networked systems platoon control safety vehicle dynamics 


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Copyright information

© Institute of Systems Science, Academy of Mathematics and Systems Science, CAS and Springer-Verlag Berlin Heidelberg 2014

Authors and Affiliations

  • Le Yi Wang
    • 1
    Email author
  • Ali Syed
    • 1
  • Gang George Yin
    • 2
  • Abhilash Pandya
    • 3
  • Hongwei Zhang
    • 4
  1. 1.Department of Electrical and Computer EngineeringWayne State UniversityDetroitUSA
  2. 2.Department of MathematicsWayne State UniversityDetroitUSA
  3. 3.Department of Electrical and Computer EngineeringWayne State UniversityDetroitUSA
  4. 4.Department of Computer ScienceWayne State UniversityDetroitUSA

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