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Vehicle platoon often face the problem of lack of scalability of maneuvers inpractical applications. Once a new scenario is added, the original program mayno longer be available. To deal with this problem, this paper introduces atwo-dimensional maneuver management framework with a fault-tolerant mechanismon the basis of the proposed hierarchical architecture for the platoon controlsystem. Maneuvers and roles are two dimensions, based on which the managementstrategies are decoupled. This makes each vehicle in the platoon has theability to execute management strategies of various maneuvers and the newmaneuver could be extended without revising the existing part. Thefault-tolerant mechanism is designed as a maneuver triggered by hardwarefailures to keep safe before taking over. Furthermore, three typical maneuversare selected for case studies to illustrate how the management strategies inthis framework work. Finally, a comprehensive simulation scenario integratingdifferent maneuvers is designed and a real-world implementation usingmicro-vehicles is conducted. Results show that the propose two-dimensionalframework could effectively deal with various maneuvers and satisfy thecomputational real-time requirements

An Extendable Maneuver Management Framework with Fault-Tolerant Mechanism for Vehicle Platoon Control System in Highway Scenario