Multiple Vehicles Semi-Self-driving System Using GNSS Coordinate Tracking under Relative Position with Correction Algorithm

This paper describes a simple and low-cost semi-self-driving system which is constructed without cameras or image processing. In addition, a position correction method is presented by using a vehicle dynamics. Conventionally, self-driving vehicle is operated by various expensive environmental recognition sensors. It results in rise in prices of the vehicle, and also the complicated system with various sensors tends to be a high possibility of malfunction. Therefore, we propose the semi-self-driving system with a single type of global navigation satellite system (GNSS) receiver and a digital compass, which is based on a concept of a preceding vehicle controlled by a human manually and following vehicles which track to the preceding vehicle automatically. Each vehicle corrects coordinate using current velocity and heading angle from sensors. Several experimental and simulation results using our developed small-scale vehicles demonstrate the validity of the proposed system and correction method.

This is an open access article licensed under a Creative Commons Attribution 4.0 International License (https://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, even commercially as long as the original work is properly cited.