Real-life implementation of a GPS-based path-following system for an autonomous vehicle

Alexander de Winter, Simone Baldi

Research output: Contribution to journalArticleScientificpeer-review

2 Citations (Scopus)
10 Downloads (Pure)

Abstract

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.

Original languageEnglish
Article number3940
Number of pages15
JournalSensors (Basel, Switzerland)
Volume18
Issue number11
DOIs
Publication statusPublished - 2018

Keywords

  • autonomous driving
  • path-follower
  • real-life tests
  • Spatial Dual GPS

Fingerprint Dive into the research topics of 'Real-life implementation of a GPS-based path-following system for an autonomous vehicle'. Together they form a unique fingerprint.

  • Cite this