  Vehicle platoon often face the problem of lack of scalability of maneuvers in
practical applications. Once a new scenario is added, the original program may
no longer be available. To deal with this problem, this paper introduces a
two-dimensional maneuver management framework with a fault-tolerant mechanism
on the basis of the proposed hierarchical architecture for the platoon control
system. Maneuvers and roles are two dimensions, based on which the management
strategies are decoupled. This makes each vehicle in the platoon has the
ability to execute management strategies of various maneuvers and the new
maneuver could be extended without revising the existing part. The
fault-tolerant mechanism is designed as a maneuver triggered by hardware
failures to keep safe before taking over. Furthermore, three typical maneuvers
are selected for case studies to illustrate how the management strategies in
this framework work. Finally, a comprehensive simulation scenario integrating
different maneuvers is designed and a real-world implementation using
micro-vehicles is conducted. Results show that the propose two-dimensional
framework could effectively deal with various maneuvers and satisfy the
computational real-time requirements
