The research of regeneration path data after treatment method for lateral oscillation attenuation while autonomous vehicle path data regeneration

摘要

In order for an autonomous vehicle to drive safely, map data with accurate path information is required. Using Latitude and Longitude coordinate information from GPS (Global Positioning System) and GIS (Geographic Information System), an autonomous vehicle generates path data and obeys these data when driving. When the total travel(raw) path is too long, this system divides raw path into multiple sub-sections(segments) using higher degree polynomial equation curve fitting and this method enable efficiently uses path data. However, these curve fitting location data cannot be expressed as perfectly linear line even if raw path is straight, and therefore, these data always include lateral position error compared with raw path. Moreover, gather volume of lateral position error generated by GPS and IMU (Inertial Measurement Unit), oscillation on straight path is inevitable. This research uses moving average and different filter size according to segment size. Finally, via experiment with a real vehicle, system is confirmed to countering oscillation.