Real-Life Implementation of a GPS-Based Path-Following System for an Autonomous Vehicle
Delft Center for Systems and Control, Delft University of Technology, Mekelweg 2, 2624 CD Delft, The Netherlands
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Sensors 2018, 18(11), 3940; https://doi.org/10.3390/s18113940
Received: 23 October 2018 / Revised: 12 November 2018 / Accepted: 13 November 2018 / Published: 14 November 2018
(This article belongs to the Special Issue Sensors Applications in Intelligent Vehicle)
This work is meant to report on activities at TU Delft on the design and implementation of a path-following system for an autonomous Toyota Prius. The design encompasses: finding the vehicle parameters for the actual vehicle to be used for control design; lateral and longitudinal controllers for steering and acceleration, respectively. The implementation covers the real-time aspects via LabVIEW from National Instruments and the real-life tests. The deployment of the system was enabled by a Spatial Dual Global Positioning System (GPS) system providing more accuracy than the regular GPS. The results discussed in this work represent the first autonomous tests on the Toyota Prius at TU Delft, and we expect the proposed system to be a benchmark against which to test more advanced solutions. The tests show that the system is able to perform in real-time while satisfying comfort and trajectory tracking requirements: in particular, the tracking error was within 16 cm, which is compatible with the 13 cm precision of the Spatial Dual GPS, whereas the longitudinal and lateral acceleration are within comfort levels as defined by available experimental studies.
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Keywords:
autonomous driving; path-follower; Spatial Dual GPS; real-life tests
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MDPI and ACS Style
De Winter, A.; Baldi, S. Real-Life Implementation of a GPS-Based Path-Following System for an Autonomous Vehicle. Sensors 2018, 18, 3940.
AMA Style
De Winter A, Baldi S. Real-Life Implementation of a GPS-Based Path-Following System for an Autonomous Vehicle. Sensors. 2018; 18(11):3940.
Chicago/Turabian StyleDe Winter, Alexander; Baldi, Simone. 2018. "Real-Life Implementation of a GPS-Based Path-Following System for an Autonomous Vehicle" Sensors 18, no. 11: 3940.
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