Abstract: The leader vehicle broadcast the information included motion parameters and driving behavior to followers is necessary in the control of platoon vehicles. To ensure the stability and robustness of platoon， an adaptive control method of vehicles was proposed， in which the motion information of leader and adjacent front vehicle became inputs of control system. The H_∞ control theory was used to solve the optimal control gain function， for closed-loop linear system contained vehicles dynamics subsystem and control subsystem， and the string stability conditions were presented that the system transfer function matrix and spacing error function satisfied. This method was used to acquire the dynamic trajectory of motion parameters and spacing error function， and was compared with the control method based on front vehicle. The numerical results showed that the asymptotic following effect of vehicles and guarantee string stability and safety of platoon could be improved by using the proposed method.

Key words: platoon, adaptive control, H_∞ robust control theory, string stability, asymptotic following