An electronic control system is configured to control a vehicle operating in a convoy by determining a vehicle motion reference parameter (VMRP) in response to a convoying control input (CCI), determining a braking capability of the vehicle including at least a regenerative braking capability, determining a minimum following distance between the vehicle and a forward vehicle of the convoy based at least in part upon the braking capability, and arbitrating among a plurality of control options including preforming a first modification of the VMRP determined to provide operation of the vehicle satisfying the minimum following distance and controlling motion of the vehicle using the first modification of the VMRP, performing a second modification of the VMRP determined to provide improved operating efficiency of the vehicle controlling motion of the vehicle using the second modification of the VMRP, and performing no modification of the VMRP and controlling motion of the vehicle using the VMRP without modification.