Collaborative driving has emerged as an important component of intelligent transportation systems (ITS) in recent years and is of special interest of this book due to its potential to significantly improve road safety and reduce human casualties by avoiding highway accidents. This book is written with an aim to provide solutions to some of the most bulging issues in ITS such as inter-vehicle communication, vehicle route selection, and platooning, through the development of a system based on dynamic collaborative driving. In order to assess the applications of ITS in different domains, this book has the following objectives: 1. Develop a localization system that determines lane positions of cars. 2. Deal with lane routing for cars with an aim to enhance traffic system operation. 3. Develop a strategy for optimal vehicle platoon formation.