## 5 Conclusions  
In this paper, we investigated a FWIDSV vehicle platoon coordination and path tracking control method based on the RVF. When compared to other platoon coordination control systems, MPC has a complex calculation process and poor real-time computing ability; the PID controller is difficult to handle longitudinal and lateral coupling motion problem. The desired acceleration of following vehicle could be obtained via RVF to track the reference path and follow the leading vehicle simultaneously. It is a kind of coupling control system that can make full use of tire forces, hence it is more suitable for FWIDSV. Through the simulation validations and result analysis, some conclusions are briefly discussed here:  
1. Through simulation in ICC scenarios, the proposed control method shows great performance, indicating that a reasonable RVF has good applicability in the ICC scenarios. It can be found that the tire force is effectively distributed, so that the path tracking and spacing maintaining are conducted simultaneously. The error can be effectively converged by RVF. 2. The desired acceleration from the RVF is achieved by constructing the FWIDSV integrated controller. The LQP-based tire force distribution method and the linerazing constraint avoid the problem of actuator saturation, thus ensuring the safety and stability of FWIDSV. It should be \begin{table}
\begin{tabular}{c c c c} \hline \hline
**Vehicle ID** & **Classification** & **Initial Position** &
\begin{tabular}{c} **The Pre-set Desired** \\ **Inter-Vehicular Spacing** \\ \end{tabular} \\ \hline \(0\) & Leading vehicle & 15, 0 & \\ \(1\) & Following vehicle & 10, 0 & 3 \\ \(2\) & Following vehicle & 6, \(-\)3 & 3 \\ \(3\) & Following vehicle & 3, \(-\)3 & 3 \\ \(4\) & Following vehicle & 0, 3 & 3 \\ \hline \hline \end{tabular}
\end{table} 
Table 4: Vehicle parameters. Figure 15: Vehicle path in platoon merging. pointed out that there are reasonable errors between the desired accelerations obtained from following control layer and the actual accelerations of FWIDSV, which result form the hysteresis, non-linearity, and motion resistance of the execution system. 3. In the platoon merging scenario, the following FWIDSVs are brought together in a line from different initial points, which means that FWIDSV platoon coordination and the tracking method based on RVF demonstrate great application potential, and can realize complex and practical driving tasks. Our findings suggest that the use of RVF might provide a viable potential for cooperative platoon control in the future. In the construction of the RVF, to maintain the distance between the following vehicle and the leading vehicle in the longitudinal direction, the norm of the flow vector is set to be related to the speed of the leading vehicle and the longitudinal tracking error. The selection of the gain coefficient \(k\) has a particular impact on the tracking effect, even conflicting in the longitudinal and lateral directions. Therefore, the main parameters of the RVF can be optimized with specific optimization objectives, to obtain the optimal control effect in the further studies. Besides, a constant longitudinal spacing control strategy is adopted, provided that the distance between the balanced point and the leading vehicle is fixed. In the platoon merging scenario, it assumes that the safety and traffic rules have been taken into account when the leading vehicle coordinates the number of the following vehicles; thus, interaction between the following vehicles is weakened. Under the control of the RVF, the collision avoidance condition can also be discovered in the future, which has great significance for vehicle platoon control. Conceptualization, data curation, writing--original draft preparation, Y.L. ; review and editing, C.Z. ; formal analysis, T.J.G. ; software and data analysis, G.L. ; methodology providing, D.Z. This research is funded by scientific study project for institutes of higher learning of Liaoning Provincial Department of Education (JP2016018).