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

Manabu Omae, Noritsugu Honma, Keisuke Usami

Research output: Contribution to journalArticlepeer-review

8 Citations (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.

Original languageEnglish
Pages (from-to)115-126
Number of pages12
JournalInternational Journal of Intelligent Transportation Systems Research
Issue number3
Publication statusPublished - 2012 Sept 1


  • Advanced vehicle control and safety systems
  • Automatic driving
  • Platooning

ASJC Scopus subject areas

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


Dive into the research topics of 'Flexible and Energy-Saving Platooning Control Using a Two-Layer Controller'. Together they form a unique fingerprint.

Cite this