자석검지시스템의 검지시간지연을 고려한 자석표지검지

초록

The real-time estimation of the relative or absolute vehicle positions is a very important for robust control of intelligent vehicles. For the sake of the vehicle positioning, GPS has been commercially utilized. However, GPS can not be applied at an environment such as tunnels or inside buildings. In the consideration of these environmental restrictions, the positioning system based on the magnetic markers was proposed for a PRT(Personal rapid transit) system. In this paper, the algorithm for compensation of the time delays in the signal processing is presented to exactly detect the position of the magnetic markers during driving on a planned path. In order to take into account the time delays in detection of the position, the errors between the reference magnetic field model and the measured signals are evaluated in both driving and lateral directions. This approach was successfully validated by experimental evaluation using a test vehicle.