자율주행 트램을 위한 측위 시스템 개발

초록

This paper deals with a localization system design for a self-driving tram vehicle that runs on a tramway track. In general, GNSS is widely used for the localization of self-driving vehicles. However, since the tram vehicle’s motion is constrained to a tramway track and GNSS signal is not always available, it is important to devise a system that can utilize other available information along the route and provide reliable localization upon the vehicle’s request. To address the issue, a localization system is developed combining GNSS/INS, tachometer, tag, and digital map. The developed system is evaluated on an actual test field and the feasibility of the developed system is validated through the test.

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