Journal of Transportation Systems Engineering and Information Technology ›› 2012, Vol. 12 ›› Issue (增1): 91-98.

• Intelligent system of urban road • Previous Articles     Next Articles

GPS/INSBased Intersection Turning of Autonomous Vehicle

ZHU Yu-Xi, QU Chao, CHEN Hui   

  1. School of Automotive Studies, Tongji University, Shanghai 201804, China
  • Received:2011-12-14 Revised:2012-02-10 Online:2012-12-28 Published:2012-06-06

基于GPS/INS的无人驾驶汽车交叉路口转弯功能实现

朱玙熹,曲超,陈慧*   

  1. 同济大学 汽车学院,上海 201804
  • 作者简介:朱玙熹(1986-),女,河南商丘人,硕士生.
  • 基金资助:

    上海市科学技术委员会基金项目(07dz05901).

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

摘要: 介绍了在城市结构化道路网络中无道路线的交叉路口等处,无人驾驶汽车基于GPS/INS (Global Positioning System/Inertial Navigation System)实现自动转弯的方法.该方法首先使用GPS/INS进行地图文件制作和车辆实时定位,并给出转弯信息;当行驶至转弯处,利用当前道路路点和未来行驶道路路点信息来拟合多项式曲线,规划局部转弯路径;当转弯环境安全时,采用预瞄控制算法使车辆跟随规划的路径.对于预瞄控制算法,基于Matlab/Simulink进行了“车辆—道路—控制器”的闭环仿真,车辆能够跟随规划的路径,且方向盘转角曲线光滑,在转向系统的承受之内.最后基于无人驾驶汽车平台进行了实车实验,利用EPS(Electronic Power Steering)转向助力电机执行方向盘转角指令,验证了该方法可实现无道路线交叉路口的自动转弯.

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

CLC Number: