A Precise GPS Sensor Subsystem for Vehicle Platoon Control
Bibliographic record
Abstract
Coordination of vehicles in high-density traffic increases the efficiency of transportation infrastructure usage while improving safety standards. The concept of Collaborative Driving Systems (CDS) addresses this issue by linking several vehicles in a platoon through local communication links and in-vehicle positioning and control systems. A CDS will enable vehicles to communicate and follow a leader vehicle thus forming a platoon of vehicles. As a part of a Canadian initiative to develop technologies for CDS, this paper investigates the performance of carrier phase GPS as a positioning subsystem for a CDS. This includes relative positioning of vehicles with centimeter level accuracy and estimating their relative speeds to an accuracy of a few centimeters per second. This research investigates carrier phase technology applied to a host vehicle positioning itself in a platoon of vehicles using the GPS subsystem. The advantages of the GPS subsystem with inter-vehicle communication in a CDS are illustrated over alternative technologies especially in issues such as maintaining the asymptotic stability in vehicle platoons. Tests were conducted using four instrumented vehicles, each equipped with a precise GPS position and heading determination system using a two-antenna configuration. This enabled the relative position estimation between vehicles as well as between antennas with a known interantenna baseline. Several driving scenarios are presented including joining, leaving, and passing a platoon of vehicles. The achievable accuracy in relative position and velocity is investigated.
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How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.001 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.001 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".