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Behavior-Extendable Vehicle Platooning Control Method and Real-Vehicle Verification
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Weizhen Zhu1, Haoyu Yang2, Chang Liu3, Yugong Luo2, Weiwei Kong1
Automobile Technology | 2025, (7) : 40 - 48
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Automobile Technology | 2025, (7): 40-48
Behavior-Extendable Vehicle Platooning Control Method and Real-Vehicle Verification
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Weizhen Zhu1, Haoyu Yang2, Chang Liu3, Yugong Luo2, Weiwei Kong1
Affiliations
  • 1 College of Engineering, China Agricultural University, Beijing 100083
  • 2 School of Vehicle and Mobility, Tsinghua University, Beijing 100084
  • 3 Xiaomi Auto Co., Ltd., Beijing 100085
Published: 2025-07-24 doi: 10.19620/j.cnki.1000-3703.20240993
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To address the limitations of existing vehicle platooning control methods, such as poor behavior-extendable capabilities, difficulties in handling diverse platoon behaviors during highway driving, and the lack of real-world road testing, this paper proposes a behavior-extendable vehicle platooning control method. Additionally, a leader vehicle acceleration prediction method under packet loss conditions is designed, and a real-vehicle platooning test platform is established. The proposed method is implemented on the real-vehicle platform, and real-vehicle experiments are conducted under packet loss conditions to validate its effectiveness. Road test results, with a maximum speed of 80 km/h and a cumulative distance of approximately 1 000 kilometers, demonstrate that the proposed vehicle platooning control method can safely and effectively manage and extend various platoon behaviors. During stable driving, the average speed errors of the following vehicles are less than 0.62 km/h and 1.55 km/h, respectively, while maintaining stable inter-vehicle spacing. These results verify the effectiveness, real-time performance, and robustness of the proposed control method and the real-vehicle platform.

Behavior-extendable  /  Vehicle platoon control  /  Real-vehicle verification
Weizhen Zhu, Haoyu Yang, Chang Liu, Yugong Luo, Weiwei Kong. Behavior-Extendable Vehicle Platooning Control Method and Real-Vehicle Verification[J]. Automobile Technology, 2025 , (7) : 40 -48 . DOI: 10.19620/j.cnki.1000-3703.20240993
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doi: 10.19620/j.cnki.1000-3703.20240993
  • Online Date：2025-10-28
  • Published：2025-07-24
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  • Revised：2025-02-10
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Affiliations
    1 College of Engineering, China Agricultural University, Beijing 100083
    2 School of Vehicle and Mobility, Tsinghua University, Beijing 100084
    3 Xiaomi Auto Co., Ltd., Beijing 100085
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光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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