磁気ポジショニングシステムによる自動運転の自己位置推定

抄録

Global Magnetic Positioning System(GMPS) using magnetic impedance sensor with high sensitivity has been developed through pilot tests for automated driving bus in Japan. It has been revealed that GMPS has high accuracy and robustness even in snow, rain, or other bad conditions. The intervals of magnetic markers should be larger than 2m considering costs of their installation and maintenance. In this paper, the localization method using GMPS with Extended Kalman Filter is proposed, and its accuracy are verified by experiment. Experimental results show that the intervals of magnetic markers could be increased and the maximum values of intervals should vary depending on curvature of the reference path.