Experimental Study on Application of DGPS-based Position Information to Automatic Driving Control
Manabu Omae* and Takehiko Fujioka**
*Faculty of Environment Information, Keio University, 5322, Endo, Fujisawa-shi, Kanagawa, 252-8520, Japan
**Department of Mechanical Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan
Experimental studies are conducted for investigating the possibility of automatic driving control systems based on absolute position information. Implementation of such control system requires a methodology of measuring the absolute position, and a control algorithm. In this paper, an accurate and real-time estimation of the absolute position by use of DGPS (Differential Global Positioning System) and sensors on a controlled vehicle is proposed. Automatic steering controller, automatic evasive controller, and a method of relative position measurement of neighboring vehicles are also proposed as application of position information to automatic driving control. Experiments are conducted using sedan-type vehicles. Experimental results validate the proposed estimation and control system, and provide the perspective of enhancing the automatic driving control system by use of the absolute position information.
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