| Collaborative driving control is an important research topic in intelligent transportation systems. Traffic congestion has been increasing worldwide as a result of widespread motorization, urbanization and population growth, which reduces the efficiency of transportation and infrastructure, and increases air pollution and fuel consumption. This problem can be overcome by intelligent vehicle applications. They create autonomous vehicles that are able to navigate through urban traffic by using communications, which can be done in the platoon setup. Autonomous vehicles provide a viable solution to mobility problems in the corning years. Therefore, the approach of collaborative driving in a platoon will be an active research area for many years to come.;The thesis aims to provide a collaborative vehicle control strategy for automated vehicles. In this thesis, decentralized PID controllers are designed arid implemented for automated vehicles. The control inputs for each vehicle are the traction force arid the steering angle. Only the relative position and the following angle between two adjacent vehicles are required for the controller design. The PID controller is applied to the path-following task and overtaking maneuvers. In the overtaking maneuver, a virtual vehicle is introduced into the platoon to help the overtaking vehicle at the time of overtaking. This thesis concentrates on the path-following and overtaking maneuver for automated vehicles in platoons.;Simulations and dynamic visualizations were conducted on the proposed decentralized PID controller. The simulation and visualization results are shown in Matlab/simulink and Matlab's virtual reality toolbox to show the effectiveness of the proposed approach. |
