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This paper describes lateral and longitudinal control algorithms when vision-based autonomous vehicles form a platoon by detecting a preceding one with a machine vision system. The visual platooning is an extension of the longitudinal control in ACC, and is featured by both the lateral and longitudinal control of following vehicles. The lateral control algorithm for a following vehicle uses a target point positioned on a preceding vehicle and captured in the field of view. When the target point is appropriately positioned, a following vehicle is guided as if it chased the target. The origin of the lateral control algorithm is an algorithm for an automated vehicle with a localization function including the dead reckoning, named the target point following algorithm. The lateral control in the visual platooning consists of the steps of target point detection, path generation, and lateral control calculation.

The Super Smart Vehicle System(SSVS) is information systems for drivers 20 - 30 years from now which are solutions to problems caused by automobiles and automobile traffic. The two year studies on the SSVS was begun in 1990 fiscal year under support by MITI. In this paper, first, present status and problems of automobiles and automobile traffic in Japan are described, and then, histories of information systems for automobiles and automobile traffic in Japan, which were efforts for the solutions, are explained. Japan has long histories in the infoimation systems, where the CACS and the Intelligent Vehicle with machine vision were developed. The SSVS, integrating driver information systems and vehicle control systems, has been derived from a new concept of info-mobility, and the SSVS is realization of the info-mobility.

This paper proposes a new concept of the info-mobility in which the information plays a key role in the future automobile with advanced functions. The basic “driver-vehicle-road environment” system could be reorganized by using three information systems, i.e. in-vehicle, roadside and wide area ones. Nine info-mobility functions, including those of judging abnormal conditions of driver and vehicle, supporting driver's manipulation, detecting obstacles and external disturbances, recognizing environment, route guidance, etc., are described. Twenty-seven specified functions selected for respective functions and related technological subjects are also discussed.