  This paper considers the problem of controlling a convoy of autonomous
vehicles to be deployed on automated highways. The individual behavior of an
autonomous vehicle as an intelligent self-interested decision-maker can be
analyzed under a non-cooperative differential game model of the convoy. The
receding horizon Nash equilibrium of the linear-quadratic differential game
provides a distributed state-feedback control strategy for the convoy. This
approach suffers a fundamental issue that neither the existence nor the
uniqueness of a Nash equilibrium is guaranteed, so the convoy control. We
present a relative dynamics based model of the convoy that carries all the
features of the individual dynamics based game model. We show that the relative
dynamics model guarantees the existence of the convoy control as well as the
asymptotic stability of the closed-loop system. Simulations illustrate the
effectiveness of the presented convoy control scheme.
