Vehicle motion control algorithms for fully automatic driving in a local area are proposed and investigated in this paper. Current automotive technologies for automatic driving have encountered the problems of system reliability, human factors and responsibility of accident. A fully automatic driving system, however, can be realized relatively easily as long as it is operated in a local area such as a campus or a site of an institute. This study is aiming at investigating human factors, system reliability and methodology of system management by operating a fully automatic driving system in the campus. In this paper, experimental studies are carried out for developing such a fully automatic driving system using a precise GPS. Two control algorithms for automatic driving in a local area is proposed. One is control algorithm for tracking a trajectory with small radius of curvature, and the other is that for automatic parking. Experimental results clarified that a controlled vehicle can track a trajectory with curvature of more than 0.2, and can accurately park in a parking space with reverse movement by the proposed control algorithms.


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    Title :

    GPS-based automatic driving control in local area with course of large curvature and parking space


    Contributors:

    Published in:

    Vehicle System Dynamics ; 42 , 1-2 ; 59-73


    Publication date :

    2004


    Size :

    15 Seiten, 15 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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