Using differential carrier phase GPS to control automated vehicles

Results are presented of laboratory and field experiments conducted to demonstrate the feasibility of using differential carrier phase Global Positioning System (GPS) measurements to control automated vehicles. Centimeter-level location accuracies are shown under static and dynamic conditions for scale-model and full-size vehicles. Techniques for single- and dual-frequency carrier cycle ambiguity resolution are discussed. The utility of this work is in the development of advanced interactive cruise control (AICC) systems with roadway-departure warnings and lane-keeping capabilities, and automated highway systems (AHS). Support requirements such as real-time datalinks, accurate road databases, and redundant sensors are discussed.