This chapter deals with a class of intelligent transportation systems (ITS), namely intelligent autonomous vehicle (IAV). This chapter focuses on dynamic and kinematic models of an over-actuated electric vehicle. The studied model is nonlinear and can be used for control design in the case of trajectory tracking in normal situation, or for fault diagnosis and fault tolerant control in the case of faulty situation. A technique of nonlinear observation is also developed, allowing the online reconstruction of some unknown states and identification of system parameters. Bond graph approach is used for modeling, monitoring, and controlling the IAV. Simulation and experimental results are given for each section, in order to enhance the theoretical developments. Furthermore, modeling of a train of vehicles with the ‘Platoon’ configuration is studied in the last section. A graphical and functional model is presented to represent the different modes of operation of the platoon of IAVs and to obtain the reconfiguration scenarios under different fault conditions.