期刊名称：International Journal of Advanced Computer Science and Applications(IJACSA)
印刷版ISSN：2158-107X
电子版ISSN：2156-5570
出版年度：2017
卷号：8
期号：8
DOI：10.14569/IJACSA.2017.080854
出版社：Science and Information Society (SAI)
摘要：This paper describes a simple and low-cost semiself- driving system which is constructed without cameras or image processing. In addition, a position correction method is presented by using a vehicle dynamics. Conventionally, selfdriving 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 smallscale vehicles demonstrate the validity of the proposed system and correction method.
关键词：Self-driving; positioning; global navigation satellite system (GNSS); Global Positioning System (GPS); GLONASS
