Design and DSP Implementation of RTK-DGPS Based Automatic Driving Systems

• Main Authors: Cheng-Nan Lien, 連政南
• Other Authors: Tsu-Tian Lee
• Format: Others
• Language: zh-TW
• Published: 2007
• Online Access: http://ndltd.ncl.edu.tw/handle/54263075530140209666

碩士 === 國立交通大學 === 電機與控制工程系所 === 95 === Intelligent Transportation Systems (ITS) have become a key constructive item in many developed countries. Automatic driving has been a main trend in the field of advanced vehicle control and safety system (AVCSS). The C6713 DSK is served as a platform in the present study to implement an embedded system for automatic driving by using a real-time kinematic differential global positioning system (RTK-DGPS) as the main sensor input for positioning and using a laser range finder as the sensor for collision avoidance. The RTK-DGPS equipment can reach a 2-centermeter positioning accuracy which can finely locate the vehicle trajectory. In lateral control, fuzzy logic is used to calculate the target position of the steering wheel and PD control is used to move the steering bar by means of an actuator to achieve the target position. The vehicle speed in longitudinal control is according to the road condition and supervisory controller is used to optimize the target speed. As for the actuator control, regular controller is adopted to manage the actuation of brakes. For the safety, the head of the car is equipped with a laser range finder to detect obstacles in the front, though the safe speed calculated by supervisory controller to make a safe automatic driving. It is tested in the experiment car, TAIWAN iTS-1. The experimental results show that the combination of RTK-DGPS and artificial-intelligence-based techniques has a good performance in automatic driving, and the resulted steering maneuvering is very similar to human driving.