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.

本文研究了低成本实时运动GPS（RTK-GPS）传感器在自动驾驶汽车定位中实现高速行驶的可行性。为了实现高速自动驾驶，尽管结合GPS的基于图像的方法可能是一种很好的定位方法，但RTK-GPS位置却可以低成本使用。在高速驾驶中，获取准确的定位非常重要，因为不太准确的位置可能会降低在适当的驾驶稳定性下跟随目标路径上的路点的性能。因此，在这项研究中，RTK-GPS位置被应用于减少带有低成本GPS和RTKLIB的测试车辆中的位置误差。实施了一种改进的自适应超前距离纯追赶算法来控制测试车辆。进行了使用RTK-GPS位置的自动驾驶实验，以验证赛车在2477 m长的赛道上具有各种转弯和倾斜的情况下，以130 kph的高速行驶时的性能。带有建议的实时自动驾驶系统并使用RTK-GPS位置的测试车辆在不偏离赛道和明显的侧向误差的情况下，可以在111 s内完成赛车跑道的整圈。该结果比专业驾驶员的79秒的记录慢32秒。带有建议的实时自动驾驶系统并使用RTK-GPS位置的测试车辆在不偏离赛道和明显的侧向误差的情况下，可以在111 s内完成赛车跑道的整圈。该结果比专业驾驶员的79秒的记录慢32秒。带有建议的实时自动驾驶系统并使用RTK-GPS位置的测试车辆在不偏离赛道和明显的侧向误差的情况下，可以在111 s内完成赛车跑道的整圈。该结果比专业驾驶员的79秒的记录慢32秒。