Abstract
As one of the guiding methods, platoon driving system using Adaptive Cruise Control (ACC) has been proposed to manage many vehicles driving at the same time. In this study, we design longitudinal and lateral control systems to realize the platoon driving system indoors. At first, we construct a longitudinal control system using ACC with Modeling Error Compensator (MEC) in order to satisfy string stability. Also, a lateral control system is designed based on target point following algorithm using way points. By this control method, the robust ACC system along wheel track of preceding vehicle is achieved. Finally, the accuracy of platoon driving is confirmed through experiments.
