Development of a Control System for Autonomous Land Vehicles 952150
An autonomous control system for land vehicles was developed. The control system consists of two major core systems, the Mission Planning and Control Unit (MPCU) and Piloting System Unit (PSU) and a number of subsystems, including the Positioning Unit (PU).
The system architecture is modular and it employs a virtual vehicle abstraction to give the system to a degree of vehicle-independency. The development and testing of the system have been carried out using a 1.5 ton tracked vehicle with a hydrostatic powertrain as a test platform.
Real-Time Kinematic GPS positioning coupled with fiber-optic gyros have been used to achieve the high positioning accuracy needed in the system. Extended Kalman Filters have been used to achieve data fusion, and cubic B-splines have been used for trajectory generation.
The system has performed well in autonomous tests; navigation accuracy of ± 5 cm has been consistently achieved.
Further development work will concentrate on system refinements, reliability in less than ideal conditions, and systems integration.
Citation: Mononen, J., Nieminen, T., and Rintanen, K., "Development of a Control System for Autonomous Land Vehicles," SAE Technical Paper 952150, 1995, https://doi.org/10.4271/952150. Download Citation
Author(s):
Jussi Mononen, Turo Nieminen, Kari Rintanen
Affiliated:
Modulaire Inc., VTT Automation
Pages: 9
Event:
International Off-Highway & Powerplant Congress & Exposition
ISSN:
0148-7191
e-ISSN:
2688-3627
Also in:
New Developments in Farm Machinery and Crop Management-SP-1111, SAE 1995 Transactions: Journal of Commercial Vehicles-V104-2
Related Topics:
Control systems
Architecture
Vehicle to vehicle (V2V)
Vehicle integration
Autonomous vehicles
Fiber optics
Navigation and guidance systems
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