{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,3]],"date-time":"2026-07-03T03:15:50Z","timestamp":1783048550350,"version":"3.54.6"},"reference-count":41,"publisher":"Elsevier BV","issue":"9","license":[{"start":{"date-parts":[[2026,6,1]],"date-time":"2026-06-01T00:00:00Z","timestamp":1780272000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/tdm\/userlicense\/1.0\/"},{"start":{"date-parts":[[2026,6,1]],"date-time":"2026-06-01T00:00:00Z","timestamp":1780272000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/legal\/tdmrep-license"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62573422"],"award-info":[{"award-number":["62573422"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100017691","name":"Guangxi Key Research and Development Program","doi-asserted-by":"publisher","award":["AB25069483"],"award-info":[{"award-number":["AB25069483"]}],"id":[{"id":"10.13039\/501100017691","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004607","name":"Guangxi Natural Science Foundation","doi-asserted-by":"publisher","award":["2026GXNSFBA00640145"],"award-info":[{"award-number":["2026GXNSFBA00640145"]}],"id":[{"id":"10.13039\/501100004607","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012166","name":"National Key Research and Development Program of China","doi-asserted-by":"publisher","award":["2022YFB4300501"],"award-info":[{"award-number":["2022YFB4300501"]}],"id":[{"id":"10.13039\/501100012166","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["elsevier.com","sciencedirect.com"],"crossmark-restriction":true},"short-container-title":["Journal of the Franklin Institute"],"published-print":{"date-parts":[[2026,6]]},"DOI":"10.1016\/j.jfranklin.2026.108709","type":"journal-article","created":{"date-parts":[[2026,5,6]],"date-time":"2026-05-06T15:16:27Z","timestamp":1778080587000},"page":"108709","update-policy":"https:\/\/doi.org\/10.1016\/elsevier_cm_policy","source":"Crossref","is-referenced-by-count":0,"title":["Efficient distributed model predictive cooperative adaptive cruise control synthesizing safety and comfort"],"prefix":"10.1016","volume":"363","author":[{"given":"Tianbo","family":"Zhang","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Junjie","family":"Chen","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2481-0502","authenticated-orcid":false,"given":"Yu","family":"Yang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1063-1351","authenticated-orcid":false,"given":"Dong","family":"Shen","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Baigen","family":"Cai","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Tao","family":"Wang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Guan","family":"Lian","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jiyu","family":"Tang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"78","reference":[{"issue":"2","key":"10.1016\/j.jfranklin.2026.108709_bib0001","doi-asserted-by":"crossref","first-page":"89","DOI":"10.1109\/T-VT.1982.23918","article-title":"Radar control for automotive collision mitigation and headway spacing","volume":"31","author":"Belohoubek","year":"1982","journal-title":"IEEE Trans. Veh. Technol."},{"key":"10.1016\/j.jfranklin.2026.108709_bib0002","series-title":"Proceedings of the 1st ACM International Workshop on Vehicular Ad Hoc Networks","first-page":"19","article-title":"Vehicle-to-vehicle safety messaging in DSRC","author":"Xu","year":"2004"},{"key":"10.1016\/j.jfranklin.2026.108709_bib0003","doi-asserted-by":"crossref","first-page":"822","DOI":"10.1016\/j.trc.2018.09.001","article-title":"Energy saving potentials of connected and automated vehicles","volume":"95","author":"Vahidi","year":"2018","journal-title":"Transp. Res. C Emerg. Technol."},{"issue":"8","key":"10.1016\/j.jfranklin.2026.108709_bib0004","doi-asserted-by":"crossref","first-page":"3919","DOI":"10.1109\/TWC.2019.2919602","article-title":"Platoon cooperation in cellular V2X networks for 5G and beyond","volume":"18","author":"Wang","year":"2019","journal-title":"IEEE Trans. Wirel. Commun."},{"issue":"4","key":"10.1016\/j.jfranklin.2026.108709_bib0005","first-page":"583","article-title":"Distributed closed-loop reference adaptive learning control for parallel mutual inductance circuits","volume":"72","author":"Zhang","year":"2025","journal-title":"IEEE Trans. Circuits Syst. II Express Br."},{"issue":"13","key":"10.1016\/j.jfranklin.2026.108709_bib0006","doi-asserted-by":"crossref","DOI":"10.1016\/j.jfranklin.2024.107002","article-title":"Distributed optimal coordination algorithm for nonlinear second-order multi-agent systems and its application to vehicle platoon","volume":"361","author":"Shi","year":"2024","journal-title":"J. Frankl. Inst."},{"issue":"7","key":"10.1016\/j.jfranklin.2026.108709_bib0007","doi-asserted-by":"crossref","DOI":"10.1016\/j.jfranklin.2024.106703","article-title":"Distributed vehicular platoon control considering communication delays and packet dropouts","volume":"361","author":"Shen","year":"2024","journal-title":"J. Frankl. Inst."},{"issue":"10","key":"10.1016\/j.jfranklin.2026.108709_bib0008","doi-asserted-by":"crossref","first-page":"19358","DOI":"10.1109\/TITS.2022.3160236","article-title":"String stable and collision-safe model predictive platoon control","volume":"23","author":"Gratzer","year":"2022","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"issue":"15","key":"10.1016\/j.jfranklin.2026.108709_bib0009","doi-asserted-by":"crossref","first-page":"7866","DOI":"10.1016\/j.jfranklin.2022.08.014","article-title":"Safe and sub-optimal CAV platoon longitudinal control protocol accounting for state constraints and uncertain vehicle dynamics","volume":"359","author":"Xin","year":"2022","journal-title":"J. Frankl. Inst."},{"issue":"4","key":"10.1016\/j.jfranklin.2026.108709_bib0010","doi-asserted-by":"crossref","first-page":"549","DOI":"10.1016\/j.automatica.2005.12.008","article-title":"Distributed receding horizon control for multi-vehicle formation stabilization","volume":"42","author":"Dunbar","year":"2006","journal-title":"Automatica"},{"issue":"11","key":"10.1016\/j.jfranklin.2026.108709_bib0011","doi-asserted-by":"crossref","first-page":"12570","DOI":"10.1109\/TVT.2020.3025729","article-title":"Min-max model predictive vehicle platooning with communication delay","volume":"69","author":"Lan","year":"2020","journal-title":"IEEE Trans. Veh. Technol."},{"issue":"1","key":"10.1016\/j.jfranklin.2026.108709_bib0012","doi-asserted-by":"crossref","first-page":"145","DOI":"10.1109\/TVT.2025.3592526","article-title":"Distributed model predictive platooning control of heterogenous CAVs under Markovian switching communication topologies","volume":"75","author":"He","year":"2026","journal-title":"IEEE Trans. Veh. Technol."},{"issue":"4","key":"10.1016\/j.jfranklin.2026.108709_bib0013","doi-asserted-by":"crossref","first-page":"1628","DOI":"10.1002\/asjc.2049","article-title":"Fuel efficiency-oriented platooning control of connected nonlinear vehicles: a distributed economic MPC approach","volume":"22","author":"He","year":"2020","journal-title":"Asian J. Control"},{"issue":"4","key":"10.1016\/j.jfranklin.2026.108709_bib0014","doi-asserted-by":"crossref","first-page":"1495","DOI":"10.1109\/TCST.2024.3371620","article-title":"Dynamic negotiation-based distributed EMPC with varying consensus speeds of heterogeneous electric vehicle platoons","volume":"32","author":"He","year":"2024","journal-title":"IEEE Trans. Control Syst. Technol."},{"issue":"10","key":"10.1016\/j.jfranklin.2026.108709_bib0015","doi-asserted-by":"crossref","first-page":"19121","DOI":"10.1109\/TITS.2022.3170977","article-title":"Multiobjective platooning of connected and automated vehicles using distributed economic model predictive control","volume":"23","author":"Luo","year":"2022","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"issue":"1","key":"10.1016\/j.jfranklin.2026.108709_bib0016","doi-asserted-by":"crossref","first-page":"8531","DOI":"10.1016\/j.ifacol.2017.08.1406","article-title":"Distributed model predictive control for highway maneuvers","volume":"50","author":"Mohseni","year":"2017","journal-title":"IFAC-PapersOnLine"},{"issue":"3","key":"10.1016\/j.jfranklin.2026.108709_bib0017","doi-asserted-by":"crossref","first-page":"3339","DOI":"10.1109\/TITS.2022.3227465","article-title":"Distributed model predictive control for heterogeneous vehicle platoon with inter-vehicular spacing constraints","volume":"24","author":"Qiang","year":"2022","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"10.1016\/j.jfranklin.2026.108709_bib0018","series-title":"ICC 2022-IEEE International Conference on Communications","first-page":"4242","article-title":"ADMM-based cooperative control for platooning of connected and autonomous vehicles","author":"Vlachos","year":"2022"},{"issue":"3","key":"10.1016\/j.jfranklin.2026.108709_bib0019","doi-asserted-by":"crossref","first-page":"2960","DOI":"10.1109\/TVT.2022.3217896","article-title":"Robust longitudinal distributed model predictive control of connected and automated vehicles with coupled safety constraints","volume":"72","author":"Bai","year":"2022","journal-title":"IEEE Trans. Veh. Technol."},{"issue":"12","key":"10.1016\/j.jfranklin.2026.108709_bib0020","doi-asserted-by":"crossref","first-page":"20364","DOI":"10.1109\/TITS.2024.3477964","article-title":"Synthesis of safety and ride comfort control for chassis of Maglev trains","volume":"25","author":"Zhang","year":"2024","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"issue":"3","key":"10.1016\/j.jfranklin.2026.108709_bib0021","doi-asserted-by":"crossref","first-page":"136","DOI":"10.1179\/1942787514Y.0000000020","article-title":"A comfort scale for standing bus passengers in relation to certain road characteristics","volume":"6","author":"Maternini","year":"2014","journal-title":"Transp. Lett."},{"issue":"12","key":"10.1016\/j.jfranklin.2026.108709_bib0022","doi-asserted-by":"crossref","first-page":"4665","DOI":"10.1109\/TITS.2019.2921807","article-title":"Standing passenger comfort: a new scale for evaluating the real-time driving style of bus transit services","volume":"20","author":"Barabino","year":"2019","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"10.1016\/j.jfranklin.2026.108709_bib0023","series-title":"Standard","article-title":"Mechanical vibration and shock\u2013Evaluation of human exposure to whole-body vibration\u2013Part 1: General requirementsh","year":"1997"},{"key":"10.1016\/j.jfranklin.2026.108709_bib0024","series-title":"2014 IEEE Intelligent Vehicles Symposium Proceedings","first-page":"516","article-title":"MPC Based collaborative adaptive cruise control with rear end collision avoidance","author":"Sancar","year":"2014"},{"issue":"3","key":"10.1016\/j.jfranklin.2026.108709_bib0025","doi-asserted-by":"crossref","first-page":"266","DOI":"10.1109\/TIV.2018.2843135","article-title":"A learning-based stochastic MPC design for cooperative adaptive cruise control to handle interfering vehicles","volume":"3","author":"Kazemi","year":"2018","journal-title":"IEEE Trans. Intell. Veh."},{"key":"10.1016\/j.jfranklin.2026.108709_bib0026","doi-asserted-by":"crossref","DOI":"10.1016\/j.trc.2023.104312","article-title":"Distributed model predictive control for heterogeneous vehicle platoon with unknown input of leading vehicle","volume":"155","author":"Qiang","year":"2023","journal-title":"Transp. Res. C Emerg. Technol."},{"issue":"2","key":"10.1016\/j.jfranklin.2026.108709_bib0027","doi-asserted-by":"crossref","first-page":"299","DOI":"10.1109\/TIV.2020.3025484","article-title":"Distributed cooperative MPC for autonomous driving in different traffic scenarios","volume":"6","author":"Mohseni","year":"2021","journal-title":"IEEE Trans. Intell. Veh."},{"key":"10.1016\/j.jfranklin.2026.108709_bib0028","doi-asserted-by":"crossref","first-page":"170","DOI":"10.1016\/j.arcontrol.2021.10.008","article-title":"Advanced model predictive control framework for autonomous intelligent mechatronic systems: a tutorial overview and perspectives","volume":"52","author":"Shi","year":"2021","journal-title":"Ann. Rev. Control"},{"issue":"13","key":"10.1016\/j.jfranklin.2026.108709_bib0029","doi-asserted-by":"crossref","first-page":"79","DOI":"10.1016\/j.ifacol.2022.07.239","article-title":"Event-triggered and distributed model predictive control for guaranteed collision avoidance in UAV swarms","volume":"55","author":"Gr\u00e4fe","year":"2022","journal-title":"IFAC-PapersOnLine"},{"issue":"11","key":"10.1016\/j.jfranklin.2026.108709_bib0030","first-page":"14061","article-title":"Asynchronous self-triggered stochastic distributed MPC for cooperative vehicle platooning over vehicular ad-Hoc networks","volume":"72","author":"Chen","year":"2023","journal-title":"IEEE Trans. Veh. Technol."},{"issue":"12","key":"10.1016\/j.jfranklin.2026.108709_bib0031","doi-asserted-by":"crossref","DOI":"10.1016\/j.jfranklin.2025.107803","article-title":"Self-triggered distributed economic MPC for asynchronous vehicle platoon with communication delays and external disturbances","volume":"362","author":"Yan","year":"2025","journal-title":"J. Frankl. Inst."},{"issue":"12","key":"10.1016\/j.jfranklin.2026.108709_bib0032","doi-asserted-by":"crossref","first-page":"15893","DOI":"10.1109\/TVT.2020.3037239","article-title":"A joint design of platoon communication and control based on LTE-V2V","volume":"69","author":"Hong","year":"2020","journal-title":"IEEE Trans. Veh. Technol."},{"issue":"3","key":"10.1016\/j.jfranklin.2026.108709_bib0033","doi-asserted-by":"crossref","first-page":"899","DOI":"10.1109\/TCST.2016.2594588","article-title":"Distributed model predictive control for heterogeneous vehicle platoons under unidirectional topologies","volume":"25","author":"Zheng","year":"2016","journal-title":"IEEE Trans. Control Syst. Technol."},{"key":"10.1016\/j.jfranklin.2026.108709_bib0034","doi-asserted-by":"crossref","first-page":"148","DOI":"10.1016\/j.automatica.2016.01.057","article-title":"Distributed receding horizon control of constrained nonlinear vehicle formations with guaranteed \u03b3-gain stability","volume":"68","author":"Li","year":"2016","journal-title":"Automatica"},{"key":"10.1016\/j.jfranklin.2026.108709_bib0035","doi-asserted-by":"crossref","DOI":"10.1016\/j.automatica.2020.109061","article-title":"Funnel cruise control","volume":"119","author":"Berger","year":"2020","journal-title":"Automatica"},{"issue":"2","key":"10.1016\/j.jfranklin.2026.108709_bib0036","doi-asserted-by":"crossref","first-page":"1368","DOI":"10.1109\/TITS.2020.3024950","article-title":"Safe and efficient cooperative platooning","volume":"23","author":"Thormann","year":"2020","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"issue":"10","key":"10.1016\/j.jfranklin.2026.108709_bib0037","doi-asserted-by":"crossref","first-page":"1205","DOI":"10.1016\/S0005-1098(98)00073-9","article-title":"A quasi-infinite horizon nonlinear model predictive control scheme with guaranteed stability","volume":"34","author":"Chen","year":"1998","journal-title":"Automatica"},{"issue":"2","key":"10.1016\/j.jfranklin.2026.108709_bib0038","doi-asserted-by":"crossref","first-page":"714","DOI":"10.1137\/18M1176671","article-title":"Distributed event-triggered model predictive control of coupled nonlinear systems","volume":"58","author":"Liu","year":"2020","journal-title":"SIAM J. Control Optim."},{"key":"10.1016\/j.jfranklin.2026.108709_bib0039","doi-asserted-by":"crossref","DOI":"10.1016\/j.sysconle.2025.106174","article-title":"Input fluctuation mitigation in coupled nonlinear control systems: a dual\u2013mode DMPC approach","volume":"204","author":"Yang","year":"2025","journal-title":"Syst. Control Lett."},{"key":"10.1016\/j.jfranklin.2026.108709_bib0040","series-title":"International Conference on Computational Science and Its Applications","first-page":"658","article-title":"On-board comfort of different age passengers and bus-lane characteristics","author":"Coni","year":"2020"},{"issue":"1","key":"10.1016\/j.jfranklin.2026.108709_bib0041","doi-asserted-by":"crossref","first-page":"195","DOI":"10.1006\/jsvi.2001.4256","article-title":"Evaluation of whole-body vibration in vehicles","volume":"253","author":"Paddan","year":"2002","journal-title":"J. Sound Vib."}],"container-title":["Journal of the Franklin Institute"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0016003226003091?httpAccept=text\/xml","content-type":"text\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0016003226003091?httpAccept=text\/plain","content-type":"text\/plain","content-version":"vor","intended-application":"text-mining"}],"deposited":{"date-parts":[[2026,7,3]],"date-time":"2026-07-03T02:22:12Z","timestamp":1783045332000},"score":1,"resource":{"primary":{"URL":"https:\/\/linkinghub.elsevier.com\/retrieve\/pii\/S0016003226003091"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,6]]},"references-count":41,"journal-issue":{"issue":"9","published-print":{"date-parts":[[2026,6]]}},"alternative-id":["S0016003226003091"],"URL":"https:\/\/doi.org\/10.1016\/j.jfranklin.2026.108709","relation":{},"ISSN":["0016-0032"],"issn-type":[{"value":"0016-0032","type":"print"}],"subject":[],"published":{"date-parts":[[2026,6]]},"assertion":[{"value":"Elsevier","name":"publisher","label":"This article is maintained by"},{"value":"Efficient distributed model predictive cooperative adaptive cruise control synthesizing safety and comfort","name":"articletitle","label":"Article Title"},{"value":"Journal of the Franklin Institute","name":"journaltitle","label":"Journal Title"},{"value":"https:\/\/doi.org\/10.1016\/j.jfranklin.2026.108709","name":"articlelink","label":"CrossRef DOI link to publisher maintained version"},{"value":"article","name":"content_type","label":"Content Type"},{"value":"\u00a9 2026 The Franklin Institute. Published by Elsevier Inc. All rights are reserved, including those for text and data mining, AI training, and similar technologies.","name":"copyright","label":"Copyright"}],"article-number":"108709"}}