Lateral control system for vehicle platoon considering vehicle dynamic characteristics

Lateral control system for vehicle platoon considering vehicle dynamic characteristics

For access to this article, please select a purchase option:

Buy article PDF
(plus tax if applicable)
Buy Knowledge Pack
10 articles for $120.00
(plus taxes if applicable)

IET members benefit from discounts to all IET publications and free access to E&T Magazine. If you are an IET member, log in to your account and the discounts will automatically be applied.

Learn more about IET membership 

Recommend Title Publication to library

You must fill out fields marked with: *

Librarian details
Your details
Why are you recommending this title?
Select reason:
IET Intelligent Transport Systems — Recommend this title to your library

Thank you

Your recommendation has been sent to your librarian.

Longitudinal vehicle platoon control has attracted much attention due to its potential for significantly mitigating traffic congestion, reducing the incidence of traffic accidents and improving fuel economy. To include platoon motion control in the two-dimensional situations, this study proposes a lateral control system for vehicle platoon considering vehicle dynamic characteristics for enhancing the traditional longitudinal platoon control (one-dimensional). The lateral control strategies are applied into two specific driving conditions: moving in parallel and moving in order which are representative in platoon lateral control applications and can be extended into a broader driving scenario. An integrated controller with motion control layer and actuator control layer is introduced to achieve the proposed lateral spacing control strategies. Three corresponding simulations are used to validate the proposed control system, and the results demonstrate that: during the two specific driving scenario, moving in order and moving in parallel, show different motion characteristics; platoon with proposed control system of platoon can realise a general curved driving task with a changing speed; the lateral following errors are influenced by the difference of dynamics characteristics between the four-wheel independent driving vehicle and the front steering vehicle which should be taken into consideration in determination of expected lateral space.


    1. 1)
      • 1. Liu, H., Kan, X., Shladover, S.E., et al: ‘Impact of cooperative adaptive cruise control on multilane freeway merge capacity’, J. Intell. Transp. Syst., 2018, 22, (2), pp. 263275.
    2. 2)
      • 2. Li, S.E., Zheng, Y., Li, K., et al: ‘An overview of vehicular platoon control under the four-component framework’. IEEE Intelligent Vehicles Symp., Seoul, Korea, 2015, pp. 286291.
    3. 3)
      • 3. Gao, F., Li, S.E., Zheng, Y., et al: ‘Robust control of heterogeneous vehicular platoon with uncertain dynamics and communication’, IET Intell. Transp. Syst., 2016, 10, (7), pp. 603613.
    4. 4)
      • 4. Shladover, S.: ‘Longitudinal control of automotive vehicles in close-formation platoons’, J. Dyn. Syst. Meas. Control, 1991, 113, (2), pp. 231241.
    5. 5)
      • 5. Kianfar, R., Augusto, B., Ebadighajari, A.: ‘Design and experimental validation of a cooperative driving system in the grand cooperative driving challenge’, IEEE Trans. Intell. Transp. Syst., 2012, 13, (3), pp. 9941007.
    6. 6)
      • 6. Robinson, E., Chan, E.: ‘Operating platoons on public motorways: an introduction to the SARTRE platooning programme’. Proc. World Congress on Intelligent Transportation System, Busan, Korea, 2010, pp. 112.
    7. 7)
      • 7. Tsugawa, S., Kato, S., Aoki, K.: ‘An automated truck platoon for energy saving’. Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, San Francisco, 2011, pp. 41094114.
    8. 8)
      • 8. Shladover, S.E., Nowakowaski, C., Lu, X.-Y., et al: ‘Cooperative adaptive cruise control definitions and operating concepts. Journal of intelligent transportation systems’, Transp. Res. Rec., J. Transp. Res. Board, 2016, 2498, pp. 145152.
    9. 9)
      • 9. Rajamani, R., Tan, H., Law, B., et al: ‘Demonstration of integrated longitudinal and lateral control for the operation of automated vehicles in platoons’, IEEE Trans. Control Syst. Technol., 2000, 8, pp. 695708.
    10. 10)
      • 10. Qin, Y., Wang, H., Ran, B.: ‘Control design for stable connected cruise control systems to enhance safety and traffic efficiency’, IET Intell. Transp. Syst., 2018, 10, (8), pp. 921930.
    11. 11)
      • 11. Zheng, Y., Li S, E., Wang, J., et al: ‘Stability and scalability of homogeneous vehicular platoon: study on the influence of information flow topologies’, IEEE Trans. Intell. Transp. Syst., 2016, 17, (1), pp. 1426.
    12. 12)
      • 12. Xiao, L., Cao, F.: ‘Practical string stability of platoon of adaptive cruise control vehicles’, IEEE Trans. Intell. Transp. Syst., 2011, 12, (4), pp. 11841194.
    13. 13)
      • 13. Dunbar, W., Caveney, D.: ‘Distributed receding horizon control of vehicle platoons: stability and string stability’, IEEE Trans. Autom. Control, 2012, 57, (3), pp. 620633.
    14. 14)
      • 14. Chang, C., Yuan, Z.: ‘Combined longitudinal and lateral control of vehicle platoons’. 2017 Int. Conf. on Computer Systems, Dalian, China, 2017.
    15. 15)
      • 15. Hao, H., Barooah, P.: ‘Stability and robustness of large platoons of vehicles with double-integrator models and nearest neighbor interaction’, Int. J. Robust Nonlinear Control, 2013, 22, (18), pp. 20972122.
    16. 16)
      • 16. Gu, X., Chen, G., Zong, C.: ‘Based on the unscented kalman filter to estimate the state of four-wheel-independent electric vehicle with X-by-wire’, SAE Int. J. Commerical Veh., 2015, 8, (2), pp. 316322.
    17. 17)
      • 17. Wu, J., Florent, P., Abbas-Turki, A.: ‘Cooperative vehicle-actuator system: A sequence-based framework of cooperative intersections management’, IET Intell. Transp. Syst., 2014, 8, (4), pp. 352360.
    18. 18)
      • 18. Zohdy, I.H., Rakha, H.: ‘Intersection management via vehicle connectivity: The intersection cooperative adaptive cruise control system concept’, J. Intell. Transp. Syst., 2014, 20, (1), pp. 116.
    19. 19)
      • 19. Guo, J., Li, K., Luo, Y.: ‘Multi-objective hierarchical architecture for coordinated motion control of intelligent vehicles’, J. Dyn. Syst. Meas. Control, 2015, 137, (10), pp. 118.
    20. 20)
      • 20. Guo, J., Luo, Y., Li, K.: ‘Adaptive coordinated leader-follower control of autonomous over-actuated electric vehicles’, Trans. Inst. Meas. Control, 2017, 39, (12), pp. 17981810.
    21. 21)
      • 21. Falcon, P., Eric Tsen, H., Borrelli, F., et al: ‘MPC-Based yaw and lateral stabilization via active front steering and braking’, Veh. Syst. Dyn., 2008, 46, (S1), pp. 611628.

Related content

This is a required field
Please enter a valid email address