GPS-based Automatic Steering Control using On-limits Region Information

Abstract

In the current GPS-based automatic driving control, a vehicle has been controlled to follow a target trajectory stored as position data and it is necessary to rearrange the trajectory data for dealing with temporary changes of the course, for evading obstacles and for realizing bidirectional traveling. This study developed control algorithm using the information of the region that a vehicle can enter and the region that the vehicle cannot enter, and validated the algorithm by experiments. The fruit of this study makes it easy to realize temporary change of course, obstacle evasion and bidirectional traveling at the GPS-based automatic driving.