{"id":"https://openalex.org/W3133711581","doi":"https://doi.org/10.1109/tiv.2021.3062397","title":"Behavioral Harmonization of a Cyclic Vehicular Platoon in a Closed Road Network","display_name":"Behavioral Harmonization of a Cyclic Vehicular Platoon in a Closed Road Network","publication_year":2021,"publication_date":"2021-02-26","ids":{"openalex":"https://openalex.org/W3133711581","doi":"https://doi.org/10.1109/tiv.2021.3062397","mag":"3133711581"},"language":"en","primary_location":{"id":"doi:10.1109/tiv.2021.3062397","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2021.3062397","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Intelligent Vehicles","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5044476261","display_name":"Yougang Bian","orcid":"https://orcid.org/0000-0002-0346-7883"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yougang Bian","raw_affiliation_strings":["State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0002-0346-7883","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100747108","display_name":"Shengbo Eben Li","orcid":"https://orcid.org/0000-0003-4923-3633"},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Shengbo Eben Li","raw_affiliation_strings":["Department of Civil and Environmental Engineering, University of Wisconsin-Madison, Madison, WI, USA","State Key Laboratory of Automotive Safety and Energy, School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-4923-3633","affiliations":[{"raw_affiliation_string":"Department of Civil and Environmental Engineering, University of Wisconsin-Madison, Madison, WI, USA","institution_ids":["https://openalex.org/I135310074"]},{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy, School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101705630","display_name":"Biao Xu","orcid":"https://orcid.org/0000-0002-1991-4967"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Biao Xu","raw_affiliation_strings":["State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0002-1991-4967","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039720864","display_name":"Xiaohui Qin","orcid":"https://orcid.org/0000-0002-3916-5801"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaohui Qin","raw_affiliation_strings":["State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0002-3916-5801","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107117626","display_name":"Shen Li","orcid":"https://orcid.org/0000-0002-7111-8861"},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Shen Li","raw_affiliation_strings":["Department of Civil and Environmental Engineering, University of Wisconsin-Madison, Madison, WI, USA","State Key Laboratory of Automotive Safety and Energy, School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-7111-8861","affiliations":[{"raw_affiliation_string":"Department of Civil and Environmental Engineering, University of Wisconsin-Madison, Madison, WI, USA","institution_ids":["https://openalex.org/I135310074"]},{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy, School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101624105","display_name":"Qing Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qing Xu","raw_affiliation_strings":["State Key Laboratory of Automotive Safety and Energy, School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy, School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100436368","display_name":"Jianqiang Wang","orcid":"https://orcid.org/0000-0003-4363-6108"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianqiang Wang","raw_affiliation_strings":["State Key Laboratory of Automotive Safety and Energy, School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-4363-6108","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy, School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031855986","display_name":"Keqiang Li","orcid":"https://orcid.org/0000-0002-9333-7416"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Keqiang Li","raw_affiliation_strings":["State Key Laboratory of Automotive Safety and Energy, School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-9333-7416","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy, School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5044476261"],"corresponding_institution_ids":["https://openalex.org/I16609230"],"apc_list":null,"apc_paid":null,"fwci":3.8853,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.93709962,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"6","issue":"3","first_page":"559","last_page":"570"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10698","display_name":"Transportation Planning and Optimization","score":0.9764999747276306,"subfield":{"id":"https://openalex.org/subfields/3313","display_name":"Transportation"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10761","display_name":"Vehicular Ad Hoc Networks (VANETs)","score":0.9710000157356262,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/platoon","display_name":"Platoon","score":0.9850355386734009},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7072834968566895},{"id":"https://openalex.org/keywords/interconnection","display_name":"Interconnection","score":0.531121015548706},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4789712727069855},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4737682640552521},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.32871145009994507},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15290361642837524}],"concepts":[{"id":"https://openalex.org/C2777735972","wikidata":"https://www.wikidata.org/wiki/Q1061967","display_name":"Platoon","level":3,"score":0.9850355386734009},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7072834968566895},{"id":"https://openalex.org/C123745756","wikidata":"https://www.wikidata.org/wiki/Q1665949","display_name":"Interconnection","level":2,"score":0.531121015548706},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4789712727069855},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4737682640552521},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.32871145009994507},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15290361642837524},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tiv.2021.3062397","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2021.3062397","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Intelligent Vehicles","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6800000071525574}],"awards":[{"id":"https://openalex.org/G2312613438","display_name":null,"funder_award_id":"61775006","funder_id":"https://openalex.org/F4320326870","funder_display_name":"State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body"},{"id":"https://openalex.org/G4265088921","display_name":null,"funder_award_id":"52002126","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7032412876","display_name":null,"funder_award_id":"52072212","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320326870","display_name":"State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W762423253","https://openalex.org/W857974993","https://openalex.org/W1966254600","https://openalex.org/W1971603612","https://openalex.org/W1976882691","https://openalex.org/W1991638565","https://openalex.org/W2010942529","https://openalex.org/W2052052478","https://openalex.org/W2089470280","https://openalex.org/W2102885431","https://openalex.org/W2107415588","https://openalex.org/W2108199400","https://openalex.org/W2111638077","https://openalex.org/W2121358796","https://openalex.org/W2134771009","https://openalex.org/W2140947684","https://openalex.org/W2141493995","https://openalex.org/W2159284761","https://openalex.org/W2160932744","https://openalex.org/W2161408559","https://openalex.org/W2162410018","https://openalex.org/W2163057321","https://openalex.org/W2163072899","https://openalex.org/W2236279405","https://openalex.org/W2343696594","https://openalex.org/W2412879119","https://openalex.org/W2566775815","https://openalex.org/W2569938451","https://openalex.org/W2661568310","https://openalex.org/W2741593405","https://openalex.org/W2768055805","https://openalex.org/W2778610932","https://openalex.org/W2801569556","https://openalex.org/W2809064993","https://openalex.org/W2921755018","https://openalex.org/W2962837449","https://openalex.org/W2963676785","https://openalex.org/W2996811802","https://openalex.org/W2998469133","https://openalex.org/W3046621333","https://openalex.org/W3100057020","https://openalex.org/W6751159590"],"related_works":["https://openalex.org/W4286572054","https://openalex.org/W3171462553","https://openalex.org/W3189590538","https://openalex.org/W2461853023","https://openalex.org/W2935722734","https://openalex.org/W2983996496","https://openalex.org/W3102129050","https://openalex.org/W3112606159","https://openalex.org/W4225689510","https://openalex.org/W4290973037"],"abstract_inverted_index":{"This":[0,99],"paper":[1],"presents":[2],"a":[3,15,24,28,65,76],"method":[4],"to":[5,110,162,175,197],"dynamically":[6],"harmonize":[7],"the":[8,21,52,59,71,93,112,115,119,125,153,167,177,183],"behaviors":[9],"of":[10,55,67,95,179],"cyclic":[11,25,57,157,164],"vehicular":[12],"platoons":[13,158],"in":[14],"closed":[16],"road":[17],"network.":[18],"Different":[19],"from":[20],"open-chain":[22],"counterpart,":[23],"platoon":[26,44,116],"formulates":[27],"traffic":[29],"flow":[30],"ring":[31],"constrained":[32],"by":[33,50],"interconnection":[34],"coupling":[35],"feature":[36],"and":[37,47,86,101,170,191],"finite-length":[38],"geometry,":[39],"which":[40],"brings":[41],"challenges":[42],"for":[43,92],"control":[45],"design":[46,94],"analysis.":[48,133],"First,":[49],"exploiting":[51],"circulant":[53],"structure":[54],"homogeneous":[56,149,156],"platoons,":[58],"closed-loop":[60],"dynamics":[61],"is":[62,90,104,122],"decomposed":[63],"into":[64,107],"set":[66],"decoupled":[68],"systems":[69],"with":[70,124],"same":[72],"low":[73],"dimension":[74],"as":[75],"single":[77],"vehicle.":[78],"Based":[79],"on":[80,114,131,136,155,182],"this":[81],"decomposition,":[82],"an":[83],"analytical":[84],"necessary":[85,100],"sufficient":[87,102,108,126],"stability":[88,121],"condition":[89,103],"derived":[91,128,174],"distributed":[96],"feedback":[97],"controllers.":[98],"further":[105],"relaxed":[106],"conditions":[109,127,181],"remove":[111],"dependence":[113],"size.":[117],"Next,":[118],"string":[120],"proved":[123],"above":[129],"based":[130,135],"frequency-domain":[132],"Then,":[134],"integral":[137],"sliding":[138],"mode":[139],"control,":[140],"we":[141],"prove":[142],"that":[143,152],"heterogeneous":[144,163],"vehicles":[145],"can":[146,159],"behave":[147],"like":[148],"ones":[150],"so":[151],"results":[154],"be":[160],"extended":[161],"platoons.":[165],"Finally,":[166],"equilibrium":[168],"velocity":[169],"spacing":[171],"errors":[172],"are":[173,195],"explain":[176],"effect":[178],"geometry":[180],"steady-state":[184],"behavior.":[185],"Numerical":[186],"simulations":[187],"using":[188],"both":[189],"linear":[190],"nonlinear":[192],"vehicle":[193],"models":[194],"conducted":[196],"validate":[198],"our":[199],"findings.":[200]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}