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Please use this identifier to cite or link to this item: http://hdl.handle.net/1942/22835

Title: Lateral Control of an Unmaned Car Using GNSS Positionning in the Context of Connected Vehicles
Authors: Lombard, Alexandre
Hao, Xuguang
Abbas-Turki, Abdeljalil
El Moudni, Abdellah
Galland, Stephane
Yasar, Ansar-Ul-Haque
Issue Date: 2016
Publisher: ELSEVIER SCIENCE BV
Citation: Shakshuki, E (Ed.). Proceedings of the 7th International Conference on Emerging Ubiquitous Systems and Pervasive Networks (EUSPN 2016), ELSEVIER SCIENCE BV,p. 148-155
Series/Report: Procedia Computer Science
Series/Report no.: 98
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.
Notes: [Lombard, Alexandre; Hao, Xuguang; Abbas-Turki, Abdeljalil; Galland, Stephane] Univ Bourgogne Franche Comte, UTBM, LE2I, UMR 6306,CNRS, F-90010 Belfort, France. [El Moudni, Abdellah] Univ Bourgogne Franche Comte, UTBM, Nanomed, Imagerie,Therapeut EA 4662, F-90010 Belfort, France. [Yasar, Ansar-Ul-Haque] Hasselt Univ, Transportat Res Inst IMOB, Wetenschapspk 5 Bus 6, B-3590 Diepenbeek, Belgium.
URI: http://hdl.handle.net/1942/22835
DOI: 10.1016/j.procs.2016.09.023
ISI #: 000387551200019
ISSN: 1877-0509
Category: C1
Type: Proceedings Paper
Validation: ecoom, 2017
Appears in Collections: Research publications

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