关键词: 智能交通 自动转弯, GPS/INS, 全局路径规划, 局部路径规划, 路径跟随

Abstract: This paper introduces a method to realize automatic turning at intersections in urban environment based on the GPS/INS (global positioning system/inertial navigation system). It not only uses the GPS/INS to generate route network definition file, but obtains real time positioning and turning information. As the vehicle approaches the intersection, the paper utilizes waypoints which locate the end segment of the current road and the beginning segment of the next road to perform local path planning online by polynomial curve fitting. The preview follower control is used to make the vehicle following the trajectory planned to cross the intersection when secure for turning. As to the preview follower control method, the simulation of “vehicleroadcontroller” based on the Matlab/Simulink shows that the vehicle can follow the planned trajectory with smooth steering wheel angle curve which can be conducted by steering system. Finally, field test shows that by applying this method, the unmanned vehicle with EPS can turn autonomously at intersections.

Key words: intelligent transportation, automatic turning, GPS/INS, global path planning, local path planning, road following