Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : November 27, 2024 - November 29, 2024
Self-position estimation is one of the technological elements of autonomous buses that have been developed in recent years. One of the technological elements of self-position estimation is the use of location information from magnetic markers installed on the road. However, it is necessary to estimate self-position using dead reckoning between magnetic markers. Therefore, it is necessary to design appropriate marker spacing considering the effects of disturbances. In this study, crosswind and sensor noise are selected as disturbances that affect self-position estimation of an autonomous bus, and their effects on self-position estimation and steering control performance are investigated through simulations. As a result, it was found that there is a large difference between the estimated self-position and the actual position because of integration errors caused by sensor noise. In addition, it was found that the error in the self-position estimate was larger when the entire side of the vehicle body was hit by crosswind than only a part of the side of the vehicle body.
