This paper presents the autonomous platoon formations that could be used to form a platoon of buses on dedicated roadways. A non-linear dynamic model and a path-following and car-following controller are presented and their performance evaluated. Using the dynamic model a platoon of three vehicles is simulated along a multi-segment reference path, demonstrating the adequate lateral and longitudinal performance required for simulations of scale, meaning the operation of multiple vehicles in a convoy or the coordinated operation of multiple convoys. The models and controller presented here will form the basis for future research involving simulations of autonomous vehicles when maneuvering through a series of complex intersections and roadways. © 2013 IEEE.