This　paper　proposes　a　novel　formation　control　strategy　for　nonholonomic　intelligent　vehicles　based　on　virtual　structure　and　consensus　approach.　The　formation　model　is　obtained　based　on　the　coordinate　transformation　and　the　virtual　structure　technique.　The　controllers　are　designed　by　using　nonholonomic　target　tracking　technique　and　leader　-following　consensus　protocol.　Depending　on　virtual　structure　approach　and　coordinate　transformation,　the　formation　control　problem　of　multiple　nonholonomic　intelligent　vehicles　is　converted　into　the　target　tracking　and　state　consensus　stabilization　problem.　Simulation　and　real-world　experimental　results　show　the　correctness　and　effectiveness　of　the　strategy.　(C)　2016　The　Authors.　Published　by　Elsevier　Ltd.