Abstract: The energy optimal control problem with free terminal states constraint for autonomous vehicles formation configuration problem is studied.In order to minimize the energy consumption in formation configuration through choosing reasonable terminal state,the optimal control model with free terminal states constraint for multi vehicles is built on the basis of quadratic programming model for single vehicle energy optimal control problem.The incremental subgradients based decentralized optimization method is proposed.In this scheme,each vehicle only plans its own trajectory,and updates the desired states based on subgradients information.By means of mutual negotiation between vehicles,the terminal states which minimize the energy consumption of whole formation is obtained.Simulation results demonstrate the effectiveness of the approach proposed.