Abstract
An autonomous, vision-based platoon requires that a following vehicle is laterally controlled to drive along the same trajectory of a preceding vehicle. This paper presents two lateral control algorithms for a following vehicle based on conventional control and modern control with the lateral deviation and the relative heading from the preceding vehicle, and the comparison between them. The performance of the algorithms are evaluated by circular driving, and the modern control shows better performance than the conventional control, while it requires measurements of the relative heading of two vehicles as well as the lateral deviation.