GPS-based Automatic Driving Control in Local Area with Course of Large Curvature and Parking Space

Omae, Manabu; Shimizu, Hiroshi; Fujioka, Takehiko

doi:10.1080/00423110412331291544

Cited by 7 publications

(5 citation statements)

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“…Digital maps are expected to be used for various purposes, such as path planning, localization, and long-range sensing. To date, two major approaches of digital maps for automated driving have been proposed: digital maps that are combined with data from the Real Time Kinematic Global Positioning System (RTK-GPS) (2) , and the Simultaneous Localization and Mapping (SLAM) method with all-around multilayer Light Detection and Ranging (LIDAR) (3) . Although automated driving has been realized via both methods at a research level, there are still certain problems such as the cost of special sensors and the vast amount of map data for practical realization of automated driving.…”

Section: Introductionmentioning

confidence: 99%

Data-based Modification System of LeanMAP Contents for Automated Driving

Ito

Nakamura

Tohriyama

et al. 2018

IJAE

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To realize a digital map for automated driving on non-highway roads, where plans for preparing highprecision 3D maps in the near future have not been determined, we propose "LeanMAP", the contents of which are composed of map data from car navigation systems. In addition, to improve the precision of the LeanMAP contents, we propose a modification system based on actual driving data. Through the results of pilot trials on data modification in left turns at an intersection and gentle curves at a non-intersection part of a public road, we confirm the feasibility of our proposed system in that it correctly modifies the contents of LeanMAP.

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Section: Introductionmentioning

confidence: 99%

Data-based Modification System of LeanMAP Contents for Automated Driving

Ito

Nakamura

Tohriyama

et al. 2018

IJAE

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“…To fulfill this requirement of precision in localization, although an existing research (2) realized autonomous driving by RTK-GPS, such sensors have inherent cost problems for our purpose. Moreover, although we need digital data of waypoint map for autonomous driving, we have problems regarding the size of data on the assumption that RTK-GPS is simply used and a waypoint map is simply combined with a GPS coordination system on the precision of RTK-GPS.…”

Section: Requirement Of Localizationmentioning

confidence: 99%

Novel Map Platform based on Primitive Elements of Traffic Environments for Automated Driving Technologies

Ito

Mio

Tohriyama

et al. 2016

IJAE

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To realize driver assistance systems based on automated driving technologies, intelligent vehicles need to recognize surrounding driving environments. On this point, sensing technologies with high-cost sensors have several problems for future popularization. Therefore, this research aimed at developing automated driving technologies with lean sensors via the enhancement of existing ADAS Horizon. As a result of experiments for confirming the feasibility of our system, we completed autonomous driving on a test course with several temporary stops and left turns.

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“…The proposed control approach is applied to design the robust lateral control algorithm for autonomous valet parking (AVP). It is assumed that the position and heading angle information is provided via either infrastructure sensors and vehicle to infrastructure (V2I) communication [9] or an invehicle sensor such as DGPS [10]. The objective of the lateral controller is to perform two different maneuvers for AVP, that is, forward driving and backward parallel parking.…”

Section: Application To Lateral Vehicle Controlmentioning

confidence: 99%

“…To answer the question, we may need to find a Lyapunov function candidate explicitly and one of the possible analysis approaches is based on linear matrix inequality. To apply this approach to (10), it is necessary to write it in matrix form as…”

Section: Introductionmentioning

confidence: 99%

Dynamic Surface Control and Its Application to Lateral Vehicle Control

Song

Hedrick

Kang

2014

Mathematical Problems in Engineering

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This paper extends the design and analysis methodology of dynamic surface control (DSC) in Song and Hedrick, 2011, for a more general class of nonlinear systems. When rotational mechanical systems such as lateral vehicle control and robot control are considered for applications, sinusoidal functions are easily included in the equation of motions. If such a sinusoidal function is used as a forcing term for DSC, the stability analysis faces the difficulty due to highly nonlinear functions resulting from the low-pass filter dynamics. With modification of input variables to the filter dynamics, the burden of mathematical analysis can be reduced and stability conditions in linear matrix inequality form to guarantee the quadratic stability via DSC are derived for the given class of nonlinear systems. Finally, the proposed design and analysis approach are applied to lateral vehicle control for forward automated driving and backward parallel parking at a low speed as well as an illustrative example.

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GPS-based Automatic Driving Control in Local Area with Course of Large Curvature and Parking Space

Cited by 7 publications

References 0 publications

Data-based Modification System of LeanMAP Contents for Automated Driving

Data-based Modification System of LeanMAP Contents for Automated Driving

Novel Map Platform based on Primitive Elements of Traffic Environments for Automated Driving Technologies

Dynamic Surface Control and Its Application to Lateral Vehicle Control

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