Autonomous Vehicle Using WADGPS

Daljit Dave Singh and Harkirat Helen Grewal

Abstract:	Global positioning System (GPS) has proven to be an extremely accurate positioning sensor for a wide variety of applications, However, in ground vehicle automation, still higher accuracy is required. Wide Area Differential GPS (WADGPS) offers a robust system that readily deals with Selective Availability (SA) errors, Ephemeris errors and Satellite Clock errors. An error level of decimeter/centimeter is guaranteed by WADGPS which satisfies the ground vehicle control algorithm. This paper deals with a highly responsive digital computer control system application algorithms for fully automatic ground vehicles. These algorithms are tested using a six degree of freedom (6DOF) simulation. The 6DOF simulation includes the Autonomous Vehicle Embedded Software (AVES) and the Vehicle Environment Model (VEM). AVES includes Guidance, Navigation, Kalman Filter and Mission handling algorithms. Whereas as VEM includes the GPS, Road, Atmospheric, Engine and Actuator models. The human intervention is completely eliminated by implementing reliable sensors and actuators. The concept of WADGPS is incorporated, thereby, making the overall performance of transportation system to be both congestion-free as well as collision-free and cost- effective. The models for GPS aiding sensors Dead Reckoning, Radar and Camera are included. A commuter is simply required to feed his/her destination into a dash-board computer. Highly sensitive actuators simulate human driver completely, and direct the vehicle on to the road. The car transmitter broadcasts its position and velocity to other cars for collision avoidance and lane changing maneuvers. Both, forward and reverse motions, and U-turns are achieved as per requirements. Furthermore, an accurate steering control is obtained using pulse code modulation technique, and acceleration/braking control is successfully implemented using learning-adaptive system.
Published in:	Proceedings of the 8th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1995) September 12 - 15, 1995 Palm Springs, CA
Pages:	1333 - 1338
Cite this article:	Singh, Daljit Dave, Grewal, Harkirat Helen, "Autonomous Vehicle Using WADGPS," Proceedings of the 8th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1995), Palm Springs, CA, September 1995, pp. 1333-1338.
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