CONTROLLING THE CAR
ATeam has developed cooperative longitudinal and lateral vehicle controllers that optimizes the collective behaviour of a platoon for a smooth driving experience. Based on environment information provided by the onboard sensors, the controllers determine how much the vehicle should accelerate, brake, or steer, for the vehicle to achieve a certain goal. The longitudinal controller maintains a safe distance to a predecessor. The lateral controller brings the vehicle to the centre of the lane or a predetermined path, and steers accordingly to maintain that position.