Establishing Platoons of Bidirectional Cooperative Vehicles with Engine Limits and Uncertain Dynamics

Simone Baldi, Di Liu, Vishrut Jain, Wenwu Yu*

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

20 Citations (Scopus)
13 Downloads (Pure)


In adaptive platooning strategies proposed in literature to handle uncertain and nonidentical uncertain vehicle dynamics (uncertain heterogeneous platoons) two aspects requiring proper design are neglected: bidirectional interaction among vehicles which might lead to loss of string stability, and engine saturation constraints which might lead to loss of cohesiveness. This work proposes a novel adaptive platooning strategy handling these two crucial aspects. Specifically, bidirectional interaction is handled by designing bidirectional reference dynamics with proven string stability properties, to which the uncertain heterogeneous platoon should homogenize; engine constraints are handled via a proposed a mechanism that makes such reference dynamics 'not too demanding', by properly saturating their action. The saturation action will allow all vehicles in the platoon to not hit their engine limits, preserving cohesiveness. Simulations are conducted to validate the theoretical analysis and show the effectiveness of the method in retaining cohesiveness of the platoon.

Original languageEnglish
Pages (from-to)2679-2691
JournalIEEE Transactions on Intelligent Transportation Systems
Issue number5
Publication statusPublished - 2021

Bibliographical note

Accepted Author Manuscript


  • bidirectional communication
  • Cooperative adaptive cruise control
  • engine constraints
  • heterogeneous platoon


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