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A real-time high-speed autonomous driving based on a low-cost RTK-GPS

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Abstract

In this paper, the feasibility of a low-cost real-time kinematic GPS (RTK-GPS) sensor for localization of an autonomous vehicle to achieve a high-speed driving is studied. For achieving high-speed autonomous driving, although the image-based method combined with a GPS can be a good approach for localization, the RTK-GPS position can be utilized with a low cost. On high-speed driving, it is important to acquire an accurate localization, because a less accurate position may degrade the performance to follow the waypoints on a target path with proper driving stability. Thus, in this study, the RTK-GPS position was applied to reduce position errors in a test vehicle with a low-cost GPS and the RTKLIB. A modified adaptive look-ahead distance pure pursuit algorithm was implemented to control the test vehicle. An autonomous driving experiment using the RTK-GPS position was carried out to verify the performance of the vehicle at a high speed of 130 kph on a track of 2477 m long with various corners and inclinations in a racing circuit. The test vehicle with the proposed real-time autonomous driving system using the RTK-GPS position achieved 111 s to complete a full lap on the racing track without departures from the track and noticeable lateral errors. This result was 32 s slower than the record accomplished by a professional human driver's 79 s.

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Acknowledgements

This work was supported by the Incheon National University Research Grant in 2017.

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Authors and Affiliations

  1. Department of Embedded Systems Engineering, Incheon National University, Incheon, South Korea

    Seonghyeon Park, Seokhoon Ryu, Jihea Lim & Young-Sup Lee

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  1. Seonghyeon Park
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  2. Seokhoon Ryu
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  4. Young-Sup Lee
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Correspondence to Young-Sup Lee.

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Park, S., Ryu, S., Lim, J. et al. A real-time high-speed autonomous driving based on a low-cost RTK-GPS. J Real-Time Image Proc 18, 1321–1330 (2021). https://doi.org/10.1007/s11554-021-01084-0

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