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Development of Autonomous Driving System Using GNSS and High Definition Map
ISSN: 0148-7191, e-ISSN: 2688-3627
Published April 03, 2018 by SAE International in United States
This content contains downloadable datasetsAnnotation ability available
Recently, development of vehicle control system targeting Full Driving Automation (autonomous driving level 5) has advanced. Some applications of autonomous driving systems like the Lane Keeping Assist system (LKA) and Auto Lane Change system (ALC) (autonomous driving level 1-3) have been put on the market. However, the conventional system using information from front camera, it is difficult to operate in some situations. For example the road that no line, large curvature and number of lane increases or decreases.
We propose an autonomous driving system using high accuracy vehicle position estimation technology and a high definition map. An LKA system calculates the target steering wheel angle based on both vehicle position information from the Global Navigation Satellite System (GNSS) and the target lane of high the definition map, according to the method of front gaze driver model. Then, the system controls steering the wheel angle by Electric Power Steering (EPS). In the case of ALC, a target lane-change path is generated based on information of the vehicle’s own lane and the next one.
The proposed system solved the problem of the conventional method. Moreover, the developed method can operate more smoothly than the conventional one. Finally, we demonstrate that the proposed system enables the actual vehicle to operate LKA and ALC in the merged road of a test tracks.
CitationTakeuchi, Y., Hideyuki, T., Kazuo, H., and Tomoki, U., "Development of Autonomous Driving System Using GNSS and High Definition Map," SAE Technical Paper 2018-01-0036, 2018, https://doi.org/10.4271/2018-01-0036.
Data Sets - Support Documents
|[Unnamed Dataset 1]|
- Vitto, C., Mario, M., and Diago, R., “Combined Automatic Lane-Keeping and Driver’s Steering Through a 2-DOF Control Strategy,” IEEE Transactions on Control Systems Technology 17(1):135-142, 2009. 1.
- Yokoyama, K., Iezawa, M., Akashi, Y. and Satake, T., “Speed Control of Parking Assist System for Electrified Vehicle,” SAE Technical Paper 2015-01-0316, 201510/4271/2015-01-0316
- Rajamani, R., “Vehicle Dynamics and Control”, Springer, doi:10.1007/978-1-4614-1433-9