International Journal of Automotive Technology

The Korean Society of Automotive Engineers (한국자동차공학회)
권호 표지

[ $H_{\infty}$ ] LATERAL CONTROL OF AN AUTONOMOUS VEHICLE USING THE RTK-DGPS

  • Ryu, J.H. (Department of Mechanical and Intelligent Systems Engineering, Pusan National University) ;
  • Kim, C.S. (Department of Mechanical and Intelligent Systems Engineering, Pusan National University) ;
  • Lee, S.H. (Interdisciplinary Program in Mechatronics, Pusan National University) ;
  • Lee, M.H. (School of Mechanical Engineering, Pusan National University)
  • Published : 2007.10.01
Download PDF
⟨ Previous Next ⟩

Abstract

This paper describes the development of the $H_{\infty}$ lateral control system for an autonomous ground vehicle operating a limited area using the RTK-DGPS(Real Time Kinematic-Differential Global Positioning System). Before engaging in autonomous driving, map data are acquired by the RTK-DGPS and used to construct a reference trajectory. The navigation system contains the map data and computes the reference yaw angle of the vehicle using two consecutive position values. The yaw angle of the vehicle is controlled by the $H_{\infty}$ controller. A prototype of the autonomous vehicle by the navigation method has been developed, and the performance of the vehicle has been evaluated by experiment. The experimental results show that the $H_{\infty}$ controller and the RTK-DGPS based navigation system can sufficiently track the map at low speed. We expect that this navigation system can be made more accurate by incorporating additional sensors.

Keywords

References

  1. Broggi, A., Bertozzi, M. and Fascioli, A. (1999). ARGO and the millemiglia in autoatico tour. IEEE Intelligent System 14, 1, 55-64
  2. Chen, C. and Han Shue, T. (1998). Steering control of gigh speed vehicles: Dynamic look ahead and yaw rate feedback. Proc. 37th IEEE Conf. and Decision & Control, 1025-1030
  3. Chen, C., Guldner, J., Kanellakopoulous, I. and Tomizuke, M. (1998). Nonlinear damping in vehicle lateral control: Theory and experiment. Proc. American Control Conf., 2243-2247
  4. Huei, P. (1992). Vehicle Lateral Control for Highway Automation. Ph. D. Dissertation. University of California. Berkeley
  5. Huei, P. and Masayoshi, T. (1990). Lateral Control of Front-Wheel-Steering Rubber-Tire Vehicles. UCBITS-PRR-90-5. PATH Research Report. California
  6. Huei, P., Wei-Bin, Z., Alan, A., Ye, L., Thomas, H., Peter, D., Masayoshi, T. and Steven, S. (1992). Experimental Automatic Lateral Control System for an Automobile. PATH Research Report. California
  7. Jay, F. and Matthew, B. (1998). The Global Positioning System and Inertial Navigation. 1st edn.. McGraw-Hill. New York
  8. John, C., Keith, G., Pramod, P. and Bruce, A. (1989). State-space solutions to standard $H_2$ and $H{\infty}$ control problems. IEEE Trans. Automatic Control 34, 8, 831-847 https://doi.org/10.1109/9.29425
  9. Kemin, Z. (1998). Essential of Robust Control. 1st edn.. Prentice-Hall. New Jersey
  10. Lee, D. E., Yoo, S. H. and Kim, Y. B. (2006). Stable autonomous driving method using modified OTSU algorithm. Int. J. Automotive Technology 7, 2, 227-235
  11. Lee, K. B., Kim, Y. J., Ahn, O. S. and Kim, Y. B. (2002). Lateral control of autonomous vehicle using levenbergmarquardt neural network algorithm. Int. J. Automotive Technology 3, 2, 71−77
  12. Miguel Angel, S., Sergio, A., Jesus, R., Eugenio Garcia, J., Teresa, P. and Carlos, G. (2001). Vehicle fuzzy driving based on DGPS and vision. Proc. IFSA World Congress and 20th NAFIPS Int. Conf., 3, 1472-1477
  13. Naranjo, J. E., Gonzalez, C., Garcia, R., Pedro, T. and Haber, R. (2005). Power-steering control architecture for autonomous driving. IEEE Trans. Intelligent Transportation System 6, 4, 406-415 https://doi.org/10.1109/TITS.2005.858622
  14. Ryu, J. H., Chang, Y. S., Park, G. H., Lee, C. H., Park, S. H. and Lee, M. H. (2004). Research on navigation system of an autonomous vehicle using RTK-DGPS. Proc. 30th Annual Conf. IEEE Industrial Electronics Society, 2, 1716-1720
  15. Shladover, S. (1991). Automated vehicle control developments in the PATH program. IEEE Trans. Vehicular Technology 40, 1, 114-130 https://doi.org/10.1109/25.69979
  16. Tan, H. S., Farrell, J. A. and Yang, Y. (2003). Automatic vehicle steering controls: DGPS/INS and magnetic markers. Proc. American Control Conf., 1, 60-65