Lateral Control of an Unmaned Car Using GNSS Positionning in the Context of Connected Vehicles

Abstract

This paper addresses the problem of path following for unmaned cars using only GNSS positionning. Several papers have already addressed the lane keeping, usually restricting the focus to the computation of the optimal steering wheel angle, therefore usually offering a good solution in either straight lines or curves, but rarely both. Moreover the GNSS receiver have a sampling time higher than the required one for the proposed strategies in the literature. In this paper, a control algorithm is proposed for the steering wheel angle, with adaptation of the speed of the car, in order to provide a solution working both for straight lines and curves by using only GNSS. The presented solution has been used in real conditions to realize the demonstration "speed synchronization at intersections using intervehicular communication, x.icars" shown at the Intelligent Transportation System World Congress in Bordeaux, 2015 (1). (C) 2016 The Authors. Published by Elsevier B.V.