Flexible and Energy-Saving Platooning Control Using a Two-Layer Controller

Manabu Omae, Noritsugu Honma, Keisuke Usami

研究成果: Article

2 引用 (Scopus)


This paper proposes a method for controlling the behavior of vehicles with respect to platooning techniques such as forming and splitting a platoon and switching lateral control between vehicle-following mode and road-following mode. The proposed control architecture comprises two layers: a status-control layer and a motion-control layer. This two-layer control architecture improves the behavior of individual vehicles and the platoon as a whole without increasing the complexity of the system. Moreover, the proposed control method allows for the formation of a platoon in accordance with a rule designed to promote energy-saving maneuvering at the time of the platoon's formation. The proposed control method is validated by conducting experiments using small electric vehicles.

ジャーナルInternational Journal of Intelligent Transportation Systems Research
出版物ステータスPublished - 2012 9 1

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Neuroscience(all)
  • Information Systems
  • Automotive Engineering
  • Aerospace Engineering
  • Computer Science Applications
  • Applied Mathematics

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