US Patent 10943490 Platoon system for vehicles

Systems and apparatuses include a controller including a circuit structured to communicate with a platoon of vehicles, determine a platoon rank order, determine final separation distances between vehicles, affect operation of each vehicle to achieve the platoon rank order and final separation distances, monitor the platoon of vehicles to determine if a deserter is leaving the platoon of vehicles or if a critical change has occurred, determine an updated platoon rank order, and determine an updated final separation distances between vehicles.