The paper focuses on the design of a platoon control system with diverse vehicle
formation. After a brief summary of the vehicle model and the control criteria, an
method is demonstrated for designing the velocity of a platoon with the consideration
traffic environment and road inclinations. The paper demonstrates methods for eliminating
longitudinal oscillations caused by the communication and actuator delays and environmental
disturbances. The realization and evaluation are carried out with various control
These control methods are demonstrated in a vehicle simulation environment.