An Autonomous and Car-Following System via DSRC Communication 2012-01-0741

Inertia navigation system is capable to backup GPS unavailability. An autonomous system integrated different sensors to offer robots or remotely operated systems a reliable navigation means. This paper addresses an autonomous design method to accomplish continuously position positioning based on GPS positioning, gear-box speed, odometry, IMU and DSRC in deck reckoning. Besides, the availability of autonomous function is verified and applied using vehicles in car following or cooperative driving. This paper also presents an inter-vehicle geocasting format to accomplish multihop and car-following in cooperative driving and data exchanged based on GPS/IMU positioning and DSRC. The car following provides warning or situation awareness to drivers based on broadcast messaging the motions of neighboring vehicles obtained by one-way communication from other vehicles. The proposed system has the advantage of omnidirectional transmitting/receiving functions of DSRC module that provides 360-degree coverage in own surveillance region. The proposed system is carried out with theoretical application and hardware integration, and furthermore the result shows navigation ability and intelligent approach applicability.