Basic control algorithms for vehicle platooning prototype model car

The paper presents basic control algorithms for vehicle platooning prototype car. The car is designed to be used in vehicle platooning research, namely in studying longitudinal control algorithms for vehicle platooning. It employs various sensors and devices that allow indoor research of platoon behavior. Therefore, the control algorithms can be designed and analyzed before implementing them within real cars. The basic control algorithms presented within this paper are used for path control and longitudinal control. They are PID and PI algorithms, they are implemented in the FreeRTOS based car's embedded application and represent the basic steps for further analysis of platoon's behavior and more advanced control techniques. The control algorithms performance for platoons of 2 vehicles is observed and presented by using the prototype model car's ability of saving the important data into specific log files on a micro SD card.