The vehicle follows a virtual reference for lane keeping and lane changing that is computed on the BeagleBone Board. Steering controllers and velocity controllers are used to track the generated references and real-time capability can be investigated.
A virtual road is defined on the BeagleBone Board that is projected on the floor.

In a "Platooning" scenario, multiple vehicles are aligned in a string, where each vehicle follows the preceding one by means of velocity control. The goal is to decrease fuel consumption by decreasing the distance and assist drivers. In addition, lane keeping assists can be used for lateral control.

To avoid amplification of position errors or accelerations along the string of vehicles, which can result in collisions, the so-called "string stability" is analyzed.

In a parking scenario, the vehicles track a reference trajectory. Based on the given scenario, the reference can be generated either for parallel or bay parking. 

The vehicles have to avoid collisions with other traffic participants. The computation of collision-free paths and corresponding velocity profiles result in reference trajectories that are then tracked by the vehicle using a low-level tracking controller.
In order to compute the reference trajectories, different algorithms have been proposed in literature. In the video shown below, a model predictive appraoch (MPC) has been used.