Abstract
This paper proposes a real-time position accuracy improvement method for a low-cost global positioning system (GPS), which uses geographic data for forming a digital road database in the digital map information. We link the vehicle’s location to the position on the digital map using the map-matching algorithm to improve the position accuracy. In the proposed method, we can distinguish the vehicle direction on the road and enhance the horizontal accuracy using the geographic data composed of the vector point set of the digital map. We use the iterative closest point (ICP) algorithm that calculates the rotation matrix and the translation vector to compensate for the disparity between the GPS and the digital map information. We also use the least squares method to correct the error caused by the rotation of the ICP algorithm and link on the digital map to eliminate the residual disparity. Finally, we implement the proposed method in real time with a low-cost embedded system and demonstrate the effectiveness of the proposed method through various experiments.
Highlights
The development of the information technology(IT) industry has recently been applied to various fields, and has especially been influencing the development of the unmanned industry.The autonomous driving technology of unmanned vehicles is the core of this industry, and the development is accelerating existing automobile manufacturers
Four representative technologies are considered when performing a complete unmanned autonomous drive to a destination: the position estimation technology that can obtain the current position of the vehicle, the environment perception technology that can recognize the surrounding environmental information by utilizing various sensors, the obstacle avoiding technology that can move without collision to an object to the given destination, and the path planning technology that generates an optimal path to a destination in a given environment
If the vehicle traveled along the center of road, the trajectory from the high-end global positioning system (GPS)/INS device would be on the reference point set (RPS)
Summary
The autonomous driving technology of unmanned vehicles is the core of this industry, and the development is accelerating existing automobile manufacturers. Unmanned ground vehicles for autonomous driving must judge and drive to the given destination. Four representative technologies are considered when performing a complete unmanned autonomous drive to a destination: the position estimation technology that can obtain the current position of the vehicle, the environment perception technology that can recognize the surrounding environmental information by utilizing various sensors, the obstacle avoiding technology that can move without collision to an object to the given destination, and the path planning technology that generates an optimal path to a destination in a given environment. The position estimation for finding the current position of a vehicle is a basis for the autonomous driving system [1,2,3,4]
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