Differential GPS-Based Position Measurement and Steering Control for Automatic Driving

为探讨基于绝对位置信息的车辆自动控制系统的可行性，进行了仿真和实验研究。这种控制系统的实现需要测量绝对位置的方法和控制算法。提出了一种利用差分全球定位系统(DGPS)和受控车辆上的传感器精确、实时地测量绝对位置的方法。提出了一种以绝对位置数据的形式跟踪期望航向的转向控制算法，仿真和实验结果验证了所提出的测控系统的有效性，为利用绝对位置信息增强自动驾驶控制系统提供了新的视角。

Simulation and experimental Studies are carried out for investigating the possibility of automatic vehicle control system based on absolute position information. Implementation of such control system requires a methodology of measuring the absolute position, and a control algorithm. An accurate and real-time measurement of the absolute position by use of DGPS (Differential Global Positioning System) and sensors on a controlled vehicle is proposed. A steering control algorithm for tracking the desired course stored as absolute position data is also proposed.Simulation and experimental results validates the proposed measurement and control system, and provides the perspective of enhancing the automatic driving control system by use of the absolute position information.