Mobile object platoon control system that calculates longitudinal acceleration of the mobile objects by setting a gain of an arithmetic expression

A mobile object control system that makes a plurality of mobile objects travel in a platoon along a travel path which is preliminarily set, comprising:

• a computer, programmed to:
• compute a longitudinal acceleration in a travel path of a preceding mobile object and a following mobile object, and
• adjust a gain of an arithmetic expression for computing the longitudinal acceleration,
• wherein the platoon includes the preceding mobile object and the following mobile object that follows the preceding mobile object along the travel path,
• wherein the gain of the following mobile object is adjusted based on a size of the preceding mobile object relative to a size of the following mobile object, a difference between accelerations of the preceding mobile object and the following mobile object, and based on a line of sight of an occupant of either the following mobile object or the preceding mobile object, and
• wherein a control of decelerating the following mobile object is performed, based on the adjusted gain, before a time when an absolute value of lateral acceleration of the preceding mobile object or a curvature of the travel path of the preceding mobile object starts increasing.