Using GPS for Automated Vehicle Convoying

Thanh Nguyen, James W. Sinko,Randal C. Galijan

Abstract:	Results are presented of experiments that demonstrated the feasibility of using differential carrier-phase Global Positioning System (GPS) measurements for both lateral and longitudinal control of two scale-model cars. The motivation behind the experiments was to explore the concept of automated vehicle convoying in which a lead vehicle is automated or manually driven and several automated vehicles follow the same path. Lateral and longitudinal errors for the experiments are presented in this paper. Compared to full-size vehicles, the scale-model cars provided a convenient and economical platform for demonstrating vehicle control. Use of GPS for adaptive cruise control (ACC) systems, roadway-departure warning and lane-keeping systems, and fully automated highway systems (AHS) are discussed. Support requirements such as real-time datalinks, accurate road databases, and redundant sensors are also discussed.
Published in:	Proceedings of the 11th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1998) September 15 - 18, 1998 Nashville, TN
Pages:	975 - 980
Cite this article:	Nguyen, Thanh, Sinko, James W., Galijan, Randal C., "Using GPS for Automated Vehicle Convoying," Proceedings of the 11th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1998), Nashville, TN, September 1998, pp. 975-980.
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