Differential GPS based control of a heavy vehicle

A control system, developed at the University of Minnesota to facilitate research into preventing run-off-the-road accidents, is described, and experimental results are presented. This system controls the steering, throttle and brakes of a class-8 truck tractor using differential GPS as the sole position sensor. Using this system, the truck was able to automatically maintain proper position in its lane at speeds of up to 80 kph on straight roads and to negotiate curves with a radius of 85 m at slower speeds. These limits were due to the test track constraints and not to the methodology. One potential application is then described. This application attempts to sense the driver falling asleep, and then actively intervenes by pulling the truck over to the side of the road and bringing it to a safe stop