Road Structure Based Steering Control Without Localization for Vehicle out of Garage

Abstract

Abstract: To solve the problem that unmanned vehicles cannot acquire their positions for planning a path in global reference frame when they are driving in an underground garage where the localization signal is weak, a steering control method was deduced theoretically by considering geometry of the road edge for aiding vehicles out of garage. Firstly, driving scene of the vehicle and low speed vehicle model were given. Then, vehicle pose relative to road edge and turning curvature at turning point were deduced theoretically, in addition to the steering angle control method at each road segment. Finally, driving behavior by the method was simulated under the condition that road edge data are ideal and non-ideal, respectively. Simulation results show that the method can realize self-driving without using location if the road edge measurement error is limited.

Key words: unmanned driving, path following, stereoscopic vision, steering control

XIONG Ying, ZHOU Ya-qi, MAO Xue-song . Road Structure Based Steering Control Without Localization for Vehicle out of Garage[J]. Computer and Modernization, 2021, 0(06): 54-60.

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