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┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ 裝 ┊ ┊ ┊ ┊ ┊ 訂 ┊ ┊ ┊ ┊ ┊ 線 ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ 除雪機(jī)的自動(dòng)駕駛系統(tǒng) Hirofumi HIRASHITA, Takeshi ARAI, Tadashi YOSHIDA 摘要: 在冷和多雪的部分的日本，大多數(shù)雪被從除雪機(jī)器道路中除去，同時(shí)，處理路邊條件并且保證安全的操作,操作這些機(jī)器被兩個(gè)人正常地操作：一名話務(wù)員和一個(gè)助手。 工作在進(jìn)行中為了除雪機(jī)器開(kāi)發(fā)自動(dòng)的駕駛系統(tǒng)在操作人員的雪移去上使負(fù)擔(dān)為了減輕并且減少未來(lái)的勞動(dòng)要求。這報(bào)告描述一個(gè)自動(dòng)的駕駛系統(tǒng)結(jié)合三種技術(shù)： 在最近幾年作為一種ITS技術(shù)已被發(fā)展的通路記號(hào)系統(tǒng)，RTKGPS技術(shù)和GIS技術(shù), 這駕駛的系統(tǒng)已被發(fā)展為旋轉(zhuǎn)除雪機(jī)器：雪移去的類型考慮最困難操作。報(bào)告也評(píng)價(jià)基于確證的結(jié)果的三種控制方法測(cè)試使用實(shí)際的除雪機(jī)器,同時(shí)這些的輪廓問(wèn)題控制必須被克服建立一個(gè)工作的系統(tǒng)的系統(tǒng)。 關(guān)鍵詞：雪旋轉(zhuǎn)移去，自動(dòng)的駕駛，ITS，通路記號(hào)，GIS，GPS 1 緒論 在寒冷的多雪部分的日本，雪通過(guò)機(jī)械的手段是被從道路上除掉保證冬天道路。為了保證機(jī)械把雪消要除根據(jù)雪在道路表面上的積累狀態(tài)適當(dāng)?shù)谋磺宄纸煌?，心?jì)劃的出席控制方法必須被建立，并且機(jī)械必須正確地操作。 自動(dòng)的駕駛系統(tǒng)發(fā)展被計(jì)劃用于旋轉(zhuǎn)的除雪機(jī)器：帶有一種操作的方法的一類型比那其他類型除雪機(jī)更復(fù)雜，它已被發(fā)展為減少工作人人員除雪負(fù)擔(dān)降低的保障。 2 發(fā)展背景 雪移去被兩個(gè)工作人員操作： 驅(qū)使移去的一名話務(wù)員同時(shí)，控制的射出的一個(gè)助手。話務(wù)員驅(qū)使機(jī)器關(guān)于道路的控制還密切注意入雪處，助手噴出雪當(dāng)雪進(jìn)入機(jī)器的時(shí)候。除雪機(jī)器雪的內(nèi)部配置十分復(fù)雜如圖3.1。目的使車輛的部分自動(dòng)自動(dòng)化在操作工作執(zhí)行中話務(wù)員允許助手控制雪做射出。未來(lái)允許由一人操作。 這報(bào)告介紹形成已被發(fā)展為自動(dòng)的駕駛系統(tǒng)的基礎(chǔ)的定位技術(shù)和控制技術(shù)，同時(shí)，提出一種評(píng)價(jià)基于確證測(cè)試的結(jié)果的系統(tǒng)據(jù)以予以執(zhí)行的雪移去并且描述克服問(wèn)題完成一個(gè)工作的系統(tǒng)。 3 自動(dòng)操縱系統(tǒng) 已被開(kāi)發(fā)的自動(dòng)的駕駛系統(tǒng)使雪的清除成為自動(dòng)化，駕駛也成為了話務(wù)員的任務(wù)之一。 3.1 駕駛并且雪清除的控制 旋轉(zhuǎn)自動(dòng)除雪機(jī)的駕駛的機(jī)制不同于正常的車輛前進(jìn)和后退部分被別針連系，而清楚說(shuō)出機(jī)制被安裝，這樣車輛能在別針折彎。駕駛被確切的線性化方法和被的時(shí)間規(guī)模轉(zhuǎn)換控制有效的制一輛活動(dòng)的車輛的過(guò)程。 這控制方法被受完整的約束影響的運(yùn)動(dòng)的一個(gè)方程代表并且基于非線性的控制理論。但是，一個(gè)雪移去側(cè)翼滑行，因?yàn)楫?dāng)它移去雪時(shí)，作為雪筑堤圍攔受橫向的反應(yīng)力量影響被顯示圖3.2。小路滑動(dòng)使用下面被描述的綜合的伺服機(jī)構(gòu)系統(tǒng)來(lái)將這當(dāng)做一場(chǎng)外部騷亂對(duì)待控制滑動(dòng)。 圖3.1 除雪機(jī)內(nèi)部 圖3.2 除雪機(jī)除雪 圖3.3 顯示駕駛機(jī)制除雪的一個(gè)模型。在未來(lái)， 前面輪子和對(duì)于后部輪子距離和除雪的連接的別針有距離被L代表，當(dāng)2α代表過(guò)程時(shí),駕駛的角度其后是除雪的半徑的一個(gè)弧R=L/tan a 。當(dāng)前面輪子的中心點(diǎn)P的過(guò)程正切方向速度矢量被θ代表和正切方向角度被ν代表時(shí)，點(diǎn)P的運(yùn)動(dòng)的方程能被寫(xiě)如下。 （1） 公式（1）被完成以便執(zhí)行狀態(tài)反饋控制。從等式中定義除學(xué)時(shí)駕駛的數(shù)量是駕駛的角度α中的1/2個(gè)。 （2） 在等式（2）中橫向滑動(dòng)將不是予以考慮。為了除去由橫向的滑動(dòng)造成的穩(wěn)態(tài)的偏差，如果綜合的伺服機(jī)構(gòu)系統(tǒng)被使用，駕駛α的數(shù)量被如下方程代表 （3） 為了除去穩(wěn)態(tài)的偏差符號(hào)f是控制獲得，同時(shí)，基于公式（3），f1代表成適當(dāng)比例的獲得，f2代表派生物獲得，而f3代表完整的獲得。PID控制被用來(lái)建造系統(tǒng) 圖3.3 協(xié)調(diào)系統(tǒng) 圖3.4 集成伺服機(jī)構(gòu)系統(tǒng)控制塊圖形 3.2 定位方法 發(fā)現(xiàn)一種車輛為了執(zhí)行自動(dòng)的駕駛的信息是必要的位置并且有確定方向駕駛它。已被開(kāi)發(fā)的系統(tǒng)裝備有兩種功能： 指導(dǎo)方法使用通路記號(hào)傳感器發(fā)現(xiàn)使用GPS和GIS來(lái)發(fā)現(xiàn)車輛位置和駕駛的方法。 3.3 通路記號(hào)傳感器指導(dǎo)方法 一臺(tái)通路記號(hào)傳感器是為了使用作為先進(jìn)的運(yùn)輸系統(tǒng)( ITS )的部分被開(kāi)發(fā)的高級(jí)的巡航幫助公路系統(tǒng)( AHS )的一種基本的技術(shù)。這技術(shù)包括間歇地被埋入在一個(gè)道路表面下面的通路記號(hào)，而車輛爬升發(fā)現(xiàn)被這些通路記號(hào)傳送的信號(hào)沿著被記號(hào)形成的過(guò)程指引車輛的傳感器。有這系統(tǒng)的兩種版本： 無(wú)線電波浪方法和磁性的方法。 （1） 角度計(jì)算邏輯 我們假定，通路記號(hào)之間的距離將不是經(jīng)常的，但是，根據(jù)道路的形狀和傳感器邊的要求能被變化。因此，這系統(tǒng)裝備有兩臺(tái)行的傳感器，這樣甚至當(dāng)通路記號(hào)安裝間隔都被知道，直到除雪機(jī)器傳遞過(guò)他們才能控制執(zhí)行。如圖3.5： 圖3.5 通路記號(hào)傳感器指導(dǎo)方法 對(duì)于用一單一的行的傳感器駕駛的控制，如（第3.5圖左邊）通過(guò)目標(biāo)過(guò)程為控制所需要的橫向的微分和方位的有差別的ym和ψm協(xié)調(diào)系統(tǒng)∑(xy)除傳感器之外要求關(guān)于記號(hào)之間的間隔的信息發(fā)信號(hào)ym1被前面車輛測(cè)量固定協(xié)調(diào)系統(tǒng)∑f ( xfyf )接受。但是，用兩臺(tái)行的傳感器(第3.5圖右邊)，系統(tǒng)能計(jì)算橫向的微分和目標(biāo)過(guò)程的方位的有差別的ym和ψm通過(guò)兩協(xié)調(diào)系統(tǒng)∑(xy)反對(duì)當(dāng)它傳遞amarker，直到他們傳遞下一個(gè)記號(hào)時(shí)，被前面車輛測(cè)量的ym1和ym2協(xié)調(diào)系統(tǒng)∑f ( xfyf )的傳感器控制兩個(gè)傳感器信號(hào)固定，這樣駕駛控制能被執(zhí)行即使記號(hào)之間的間隔是未知的。 （2）電波記號(hào)傳感器定位方法 有了無(wú)線電波浪方法，一個(gè)天線在車輛上的傳感器內(nèi)部朝著道路傳送227.5臺(tái)kHs無(wú)線電波浪，以及當(dāng)一臺(tái)無(wú)線電波浪記號(hào)(圖3.6 )收到這轉(zhuǎn)播，它歸還455 kHz的雙頻率的一個(gè)信號(hào)。 在傳感器內(nèi)部的一個(gè)收到的天線收到這返回?zé)o線電波浪發(fā)現(xiàn)車輛的位置(圖3.7)。 朝著穿過(guò)的運(yùn)動(dòng)的方向的高峰價(jià)值。 它在中發(fā)現(xiàn)位置通過(guò)通過(guò)基于在被兩感到的返回?zé)o線電波浪的收到的力量的區(qū)別的成三角形方法計(jì)算天線之間的距離橫向的收到方向天線 圖3.6無(wú)線電搖動(dòng)記號(hào) 圖3.7無(wú)線電波浪記號(hào)傳感器 （3）磁性的記號(hào)傳感器定位方法 有了磁性的方法，有持久標(biāo)記的鐵酸鹽磁鐵(圖3.8)安裝在地表面以下，磁鐵上還安裝一臺(tái)磁性的傳感器。 課題分配磁性的記號(hào)顯示將記號(hào)的中心當(dāng)做最大限度課題力量對(duì)待的單峰。 這課題的垂直的組成部分( Bz )和車輛寬度方向組成部分( Bx )的磁性的流密度被磁性的傳感器和位置記號(hào)發(fā)現(xiàn)被計(jì)算之間的距離發(fā)現(xiàn),基于以前約定的Bx與Bz有關(guān)系的方程傳感器和記號(hào)。(圖3.9) 圖3.8 磁性的記號(hào) 圖3.9 Bx與Bz關(guān)系 3.4 GPS與GIS定位發(fā)現(xiàn)方法 基于GPS與GIS定位的一個(gè)系統(tǒng)發(fā)現(xiàn)車輛的位置通過(guò)比較旋轉(zhuǎn)的雪移去位置控制其操作把從一個(gè)GPS衛(wèi)星被收到的數(shù)據(jù)與位置相協(xié)調(diào)為了提前被道路GIS提供的道路協(xié)調(diào)線性的數(shù)據(jù)。 （1） 路GIS道路GIS是有關(guān)用于道路維護(hù)的結(jié)構(gòu)和交通管理的信息的一個(gè)數(shù)據(jù)庫(kù)。 為了開(kāi)發(fā)這系統(tǒng)，旋轉(zhuǎn)的雪移去目標(biāo)過(guò)程信旋轉(zhuǎn)的雪removers的話務(wù)員移去雪通過(guò)推動(dòng)息被建立，這樣它能被處理作為GIS數(shù)據(jù)。擴(kuò)展裸露的道路他們的被雪消除邊界(圖3.10)指引的車輛因?yàn)檠┫吔缃?jīng)常沿著道路的雙方是人行道的控制，被使用的GIS數(shù)據(jù)是控制數(shù)據(jù)。 共 9 頁(yè) 第 9 頁(yè) 圖3.10 道路GIS數(shù)據(jù) （2）TK-GPS RTK-GPS，有高精度的定位( 2點(diǎn)和3點(diǎn)cm )之間的差錯(cuò)半徑的能力的一個(gè)系統(tǒng)，包括收到天線的兩GPS，一個(gè)固定站另一個(gè)固定在運(yùn)載工具車站(在除雪機(jī))上。 固定的車站傳送基于它已收到到運(yùn)載工具車站的GPS數(shù)據(jù)的糾正信息。系統(tǒng)幾乎能執(zhí)行實(shí)時(shí)定位，因?yàn)镚PS數(shù)據(jù)以20Hz的速度被糾正。 圖4.1 裝備有一種自動(dòng)的駕駛支持功能的除雪機(jī) 4 確證的測(cè)試 消除在一月和2002年二月在北海道使用裝備有駕駛的控制系統(tǒng)的旋下面的自動(dòng)的駕駛方法的適用性和實(shí)用性是一條實(shí)際的道路(低速率，橫向滑動(dòng))上的一個(gè)雪移去所特有的。轉(zhuǎn)的雪移去被實(shí)行。 4.1 確證測(cè)試的輪廓 （1） 被機(jī)器移去 除雪機(jī)器的體積分為大中小型經(jīng)常被使用在過(guò)家的公路上，據(jù)正常的說(shuō)明建造部分地被修改(圖4.1)。 （2） 驗(yàn)證的測(cè)試過(guò)程 確證的測(cè)試過(guò)程包括直的段，曲線，( R 30 m )，以及相交( R 12 m )，這樣它在公路上復(fù)制條件下， 其通路記號(hào)間隔是2.0 m和1.5 m 。 除雪的工作條件與實(shí)際的工作的那些相同，而工作以兩種速度被做，4公里與h和0.5公里與h 。雪銀行被準(zhǔn)備提供當(dāng)一個(gè)移去被用來(lái)擴(kuò)展清除的部分的一條道路時(shí)，發(fā)生的工作裝載和橫向的滑動(dòng)。 圖4.2 測(cè)試過(guò)程的布局 4.2 確證的測(cè)試的結(jié)果 測(cè)試證實(shí)通路記號(hào)彈著點(diǎn)方向觀測(cè)(無(wú)線電波浪和因?yàn)轳{駛的控制系統(tǒng)發(fā)展是跟隨的一個(gè)系統(tǒng)預(yù)置目標(biāo)過(guò)程，其控制性能從其目標(biāo)過(guò)程(橫向的偏差)的數(shù)量被評(píng)價(jià)為雪移去的 偏差的數(shù)量。 表5.1表示從被方法組織的測(cè)試結(jié)果顯示橫向的偏差的數(shù)量。磁性)指導(dǎo)方法和GPS與GIS定位方法。 這桌子展覽那么總的來(lái)說(shuō)，偏差和標(biāo)準(zhǔn)的偏差的數(shù)量在直的段上是小的，但是他們兩個(gè)都在曲線上在相交更高。 這區(qū)別大概地是被執(zhí)行的事實(shí)的一種結(jié)果在帶有曲率的一條小的半徑的段中，大量的駕駛，并且雪消除裝載是更可能造成橫GPS與GIS方法優(yōu)于 通路記號(hào)方法。 因?yàn)橐郧暗姆椒◣缀跞〉脦缀?0Hz的實(shí)時(shí)定位和駕駛控制，它立即能對(duì)作出反應(yīng)減少偏差的數(shù)量橫向滑動(dòng)。 有了后面，駕駛被延遲因?yàn)橄到y(tǒng)不能發(fā)現(xiàn)沒(méi)有通路記號(hào)之間的信號(hào)，在大量的橫向的偏差中導(dǎo)致的橫向的滑動(dòng)。 因此，測(cè)試被完成，提供，除用傳感器糾正橫向的滑動(dòng)之外，當(dāng)傳感器傳遞記號(hào)時(shí)，協(xié)調(diào)下一個(gè)記號(hào)(過(guò)程信息)。導(dǎo)致橫向的滑動(dòng)的分配揭示作為這時(shí)被領(lǐng)進(jìn)圖4.3，±2σ(σ:標(biāo)準(zhǔn)的微分)是沒(méi)有過(guò)程信息的±57 cm，而它是過(guò)程信息的±31 cm： 極端帶來(lái)其精度的一大的改進(jìn)和接近那個(gè)GPS與GIS方法。 在之間的性能中的沒(méi)有間距速度4公里與h和0.5與h被觀察。 5 結(jié)論和未來(lái)挑戰(zhàn) 已被確認(rèn)自動(dòng)的駕駛系統(tǒng)使用通路記號(hào)或者GPS的，GIS等等能通除雪機(jī)取得正常的雪消除工作的一個(gè)一般地實(shí)際的水平的控制。 但是，為了建立實(shí)際的工作的系統(tǒng)，如下挑戰(zhàn)必須被解決。 (1) GPS與GIS方法顯示其發(fā)現(xiàn)精度甚至?xí)簳r(shí)在敞開(kāi)的空間中落下。 當(dāng)GPS衛(wèi)星在一個(gè)狹窄的范圍中被集中時(shí)，我們假定這發(fā)生。 同時(shí)，在測(cè)試期間無(wú)線電波浪記號(hào)方法，認(rèn)為是車輛上的高的輸出傳輸器的一種結(jié)果無(wú)法預(yù)言的行為被觀察。 提供是必要功能當(dāng)這樣反常的操作的信號(hào)被生產(chǎn)時(shí)，那沒(méi)有干涉話務(wù)員而自動(dòng)地停止操作。 (2) 為GPS與GIS情況，靠通路改進(jìn)控制的精度是必要通過(guò)進(jìn)入通路記號(hào)的記號(hào)方法提前協(xié)調(diào)到雪移去系統(tǒng)向它提供過(guò)程信息。 每次系統(tǒng)傳遞過(guò)記號(hào)，記錄在每一記號(hào)上的通道是也十分重要。 (3) 更進(jìn)一步改進(jìn)控制精度(減少偏差的數(shù)量)，努力量化諸如的騷亂橫向 的滑動(dòng)，與雪消除裝載等等在把雪消除工作的模型的細(xì)節(jié)的程度增加旋轉(zhuǎn)的雪移去之后并且執(zhí)行仿真是必要雪移去。 圖4.3 橫向的偏差(無(wú)線電波方法) 在最近幾年，各種各樣的組織已試圖運(yùn)用信息技術(shù)( IT )改進(jìn)建設(shè)機(jī)械。 當(dāng)時(shí)在那些情況中看見(jiàn)，信息在這種情況中處理不能被運(yùn)用于其它系統(tǒng)，除非它 表5.1每一系統(tǒng)的橫向的差異 獨(dú)立的操作(工作加速4公里與h，前面?zhèn)鞲衅鞯钠畹臄?shù)量) 在最近幾年，各種各樣的組織已試圖運(yùn)用信息技術(shù)( IT )改進(jìn)建設(shè)機(jī)械。 當(dāng)時(shí)在那些情況中看見(jiàn)，信息在這種情況中處理不能被運(yùn)用于其它系統(tǒng)，除非它的用途在標(biāo)準(zhǔn)化時(shí)被假定。 因?yàn)楸贿@項(xiàng)目發(fā)展的除雪機(jī)通路記號(hào)的新的道路基礎(chǔ)設(shè)施，道路GIS數(shù)據(jù)。同時(shí)，通信系統(tǒng)和其通信標(biāo)準(zhǔn)必須被標(biāo)準(zhǔn)化，其發(fā)展用ITS領(lǐng)域中的通信技術(shù)已被協(xié)調(diào)。 作者希望這研究與發(fā)展將促進(jìn)作為一個(gè)工作的系統(tǒng)介紹它。 最后，作者希望向Hokuriku地區(qū)表達(dá)他們的深的感激地基礎(chǔ)設(shè)施的部的發(fā)展局和北海道地區(qū)的發(fā)展局，和運(yùn)輸其幫助確證的測(cè)試和對(duì)于幫助系統(tǒng)和測(cè)試的工作的建造的每個(gè)人。 Snow machine autopilot system Hirofumi HIRASHITA, Takeshi ARAI, Tadashi YOSHIDA Abstract: In the cold and snowy part of the Japanese, most of the snow from snow machines to remove the road at the same time, conditions at street level and to ensure the safety of operation, operating the equipment was operating normally two people: one operator and one assistant. Work in progress the development of automatic machines for snow driving system in the operator to make the snow removal in order to alleviate the burden and reduce the labor requirements of the future. This report describes an automatic driving system combines three technologies: in recent years as a development of ITS technology has been marked the pathway system, RTKGPS technology and GIS technology, this drive system has been developed into a rotating machine snow: Snow shift to consider the most difficult type of operation. The report also confirmed the results of the evaluation based on the three control methods to test the use of the actual snow removal machines, while the outline of these issues must be overcome to control the work of the establishment of a system of systems. Key words: rotary snow removal, automatic driving, ITS, channel markers, GIS, GPS 1 Introduction In the snowy cold part of Japan, by mechanical means the snow is removed from the road to ensure that the winter road. In order to ensure the machinery to eliminate the exception of the snow on the road under the snow accumulation on the surface state of the appropriate traffic had been cleared, the presence of mind control plan must be established, and the machinery must be operated correctly. Automatic driving system has been planned for the development of rotating machines snow: with a method of operation of a type that other types of snow than the more complex machine, it has been the development of staff members in order to reduce the burden of reducing the protection of snow. 2 development background Snow removal operations by the two staff: one driven by the removal of the operator at the same time, control the injection of an assistant. Operator-driven control of the machine on the road also pay close attention to the snow, the assistant out into the snow when the snow when the machine. Snow removal machine are complex internal configuration shown in Figure 3.1. The purpose of auto-parts for vehicles in the operation of the work of the implementation of automation in the operator control to allow the snow to do injection aides. The future to allow operation by one person. This report has been formed to develop automated driving system is the basis of the positioning technology and control technology, at the same time, an evaluation based on test results confirm that the system be implemented to remove the snow and a description of the completion of the work to overcome the problem of system. 3 automatic control system Has been developed to enable automated driving systems become automated removal of snow, driving has become one of the tasks of the operator. 3.1 drivers and the control of snow removal Snow machine automatically rotating mechanism for driving the vehicle is different from the normal part of forward and backward linkage pins, and spelled out the mechanism to be installed, so that vehicles can be bent pin. Driving by the exact linearization method and the time scale of the change of control of the activities of an effective system for the process of vehicles. This control method is bound by the full impact of the campaign on behalf of an equation and is based on non-linear control theory. However, the removal of the flank of a snow slide, because when it is the removal of snow, as snow embankment Wai reaction stopped by the horizontal forces are displayed Figure 3.2. Sliding path is described using the following integrated servo system to external disturbances such as treatment of a sliding control. ?????? ?????? Figure 3.1 Figure 3.2 inside snow snow snow machine Figure 3.3 shows the driving mechanism for a model snow. In the future, the front wheels and rear wheels for distance and removal of the pin connections are representative of the distance to be L, when the representative 2α process, driving the point of view of snow followed by an arc of radius R = L / tan a. The center of the wheel surface current process P tangent were the direction of velocity vector and the tangent direction θ on behalf of the perspective of being the representative of ν, the point P of the movement equation can be written as follows. ? (1) Formula (1) has been completed for the implementation of state feedback control. Defined from the equation in addition to the number of hours of driving is driving in the perspective of α 1 / 2. ??? (2) In equation (2) horizontal sliding will not be taken into account. In order to remove the slide caused by the horizontal deviation of the steady-state, if the integrated servo system is used to drive the number of α equation was as follows on behalf of ????????????? (3) In order to remove the steady-state deviation of the symbol f is the control of access, at the same time, based on the formula (3), f1 into the appropriate proportion of representatives of the acquisition, f2 derivatives on behalf of access to, and representative of the complete access to f3. PID control system is used to build 3.2 Location Method In order to find a vehicle to drive the implementation of automated information is necessary to determine the location and the direction of driving it. Has Systems and equipment have been developed, there are two functions: to guide the use of access methods marked using GPS sensors, and GIS to identify the location of vehicles and driving method. 3.3 method of access guidance mark sensor A mark sensor is a pathway in order to use as an advanced transport system (ITS) has been developed by some of the cruise to help senior highway system (AHS) of a basic technology. This technology includes intermittently been buried below the surface of a road in the path marked, and vehicles found to have been climbing these mark to send the signal pathway has been marked along the course of the formation of the sensor vehicles. There are two versions of this system: the radio waves and magnetic methods. (1) the perspective of computational logic We assumed that the distance between the marked path will not be regular, but, according to the shape of the road and sensors can be changed while the request. Therefore, this system is equipped with two lines of sensors, so even when the channel spacing marks are aware of the installation until the snow machines in order to control transmission of the implementation of them. Figure 3.5: ?????????? ??????????????????????????? Figure 3.5 mark sensor guiding path method ??? For a single line with a driving control sensors, such as (Figure 3.5 left) through the goal needed to control the horizontal position of the differential and differential ψm of ym and coordination system Σ (xy) in addition to the sensor outside the requirements of on the interval between markers signal the information ym1 measurement was fixed in front of the vehicle coordination system Σf (xfyf) accepted. However, with two lines of sensors (Figure 3.5 right), the system can calculate the differential horizontal direction and objectives of the course there is a difference of ψm of ym and coordination through the two systems Σ (xy) against the pass when it amarker, until they pass (2) radio mark sensor positioning methods With the radio wave method, an antenna in the vehicle on the road towards the sensor internal kHs send radio waves 227.5 Taiwan, as well as a mark of radio waves (Figure 3.6) received the broadcast, which returned to double the frequency of 455 kHz of a signal . A sensor within the antenna received radio waves received back to the position of the vehicle was found (Figure 3.7). Towards the direction of movement through the peak value. It was found in the position to be passed through the two was based on the return of the received radio wave strength of the triangle as the difference between the calculated horizontal distance between the antenna of the receipt of the direction of the antenna ?????????????????????? ?????? Figure 3.6 Figure 3.7 mark the radio rocking radio wave sensor mark (3) mark the magnetic sensor positioning methods With the magnetic approach, there is a lasting mark ferrite magnet (Figure 3.8) installed on the surface below the magnet also install a magnetic sensor. Subjects showed that the distribution of magnetic signs will mark the center of the subject as the maximum peak power of a single treatment. This issue an integral part of the vertical (Bz) and an integral part of the vehicle width direction (Bx) of the magnetic flux density by magnetic sensors and the location of marks were found between the calculated distance was found, based on the previously agreed Bx and Bz are relationship between the sensor and mark the equation. (Figure 3.9) 3.4 GPS and GIS positioning methods found GPS and GIS-based positioning system the position of the vehicle was found by comparing the rotation of the snow removal operation to control his or her position from a GPS satellite to be received by the coordination of data and the location of the roads in order to advance the road to provide coordination of GIS data linear . (1) the way GIS is a GIS-related road for road maintenance and traffic management structure of a database of information. In order to develop this system, rotation of the process of snow removal of the target letter rotary snow snow removers remove the operator through the promotion of interest was established, it can be processed such as GIS data. Expansion of the road exposed their snow elimination of the border (Figure 3.10) guidelines for the elimination of the vehicle because of the snow along the road to border the sidewalk two sides is controlled by the use of GIS data is control data. ???? Figure 3.10 road GIS data (2) TK-GPS RTK-GPS, there are high-precision positioning (2:00 and 3:00 cm) of the error between the radius of the ability of a system, including the receipt of the two antenna GPS, a fixed point to another fixed station in the means of delivery (in the snow removal machine ) on. Fixed transmission station on the grounds that it has received the means of delivery of the GPS station data to correct the information. System can perform almost real-time location, as GPS data to be corrected speed of 20Hz. ???? ????????????????????? Figure 4.1 is equipped with an automatic driving the snow machine support 4 confirm the test January and eliminate in Hokkaido in February 2002 have driven the use of the equipment control system of automatic rotation of the driving following applicability and usefulness of the actual road is a (low rate, horizontal sliding) a snow removal unique. Snow removal to be implemented. 4.1 confirmed the outline of the test (1) The removal machine Snow machines are divided into small, medium and large size are often used in off the highway home, it was a normal part of that construction has been modified (Figure 4.1). (2) verify that the testing process Conclusive evidence of the testing process, including the paragraph straight, curve, (R 30 m), as well as the intersection (R 12 m), so that it copied on the road conditions, the channel spacing is 2.0 m mark and 1.5 m. Snow removal and the actual working conditions of those who work the same as the speed of work was done in two, four kilometers and 0.5 kilometers and h and h. Snow banks are ready to be used when a removal to remove the part of the expansion of a road, the occurrence of the work of loading and horizontal sliding. 4.2 The test results confirmed Marked point of impact tests to confirm the direction of observation channels (radio waves, and because the control system driving the development of a system to follow the preset goal of the process, the control performance from the target process (lateral deviation) were evaluated as the number of snow removal The number of deviations. Table 5.1 that have been organized from the test results indicate that the number of horizontal deviation. Magnetic) and GPS guidance and positioning method of GIS. This exhibition then the whole table, the standard deviation and the number of deviations in the straight segment is small, but they both are in the intersection of the curve higher. This difference is probably to the fact that the implementation of a curvature of the results with a small radius of the paragraph, a large number of drivers, and snow is more likely to eliminate the load caused by cross-method is superior to GPS and GIS Access method mark. Because the previous method to obtain almost real-time location of almost 20Hz and driving control, it can respond immediately to reduce the deviation of the number of horizontal sliding. With the back, driving can not be delayed because the system found that there was no signal between the access road markings, in a large number of horizontal deviation in the result of horizontal slide. Therefore, the test was completed, in addition to using sensors to correct horizontal sliding, the time when the sensor mark transfer, under the coordination of a mark (process information). Resulted in the distribution of horizontal sliding, as revealed at this time was led into the Figure 4.3, ± 2σ (σ: standard differential) is not the process of information ± 57 cm, and it is the process of information ± 31 cm: bring extreme precision a major improvement and close to the GPS and GIS methods. In between the performance of no spacing and h the speed of 4 km and 0.5 and h was observed. 5 Conclusions and future challenges Have been identified using an automatic driving system, or GPS-marked path, GIS and so can pass the normal snow machine made snow to eliminate the work of a general level of actual control. However, in order to establish the actual work of the system, the following challenges must be resolved. (1) GPS and GIS methods to demonstrate its accuracy and even found the time being in the open space down. When the GPS satellites in a narrow range was focused on, we assume that this occurred. At the same time, mark the test methods of radio wave that is the vehicle of a high output of a transmitter can not predict the outcome of the behavior was observed. Function is necessary to provide such an abnormal operation when the signals are in production, it will not interfere with the operator to stop operation automatically. (2) for the GPS and GIS, the access road to improve on the accuracy of control is necessary to mark the adoption of the mark to enter the access methods to advance the coordination of the snow removal system to process the information it provides. Transmission of each system have been marked, the mark recorded in each channel is also very important. (3) further improve the control precision (decrease the number of deviations), efforts to quantify the disorder, such as horizontal Sliding, and snow loading, etc. to eliminate the snow in the model to eliminate the details of the work of the degree of increase in rotation after the removal of snow and the implementation of simulation is necessary to remove the snow. ? Figure 4.3 horizontal deviation (radio-wave method) In recent years, a variety of organizations have attempted to use information technology (IT) to improve the construction machinery. At that time, seen in those cases, the information dealt with in such a situation can not be applied to other systems, unless it Table 5.1 for each system, differences in horizontal Independent operations (to speed up the work of four kilometers and h, in front of the deviation of the number of sensors) ? In recent years, a variety of organizations have attempted to use information technology (IT) to improve the construction machinery. At that time, seen in those cases, the information dealt with in such a situation can not be applied to other systems, unless the use of it was assumed that in the standardization. The development of this project because of the snow machine marked a new access road infrastructure, road GIS data. At the same time, communications systems and its communication standards must be standardized, with its development in the field of ITS has been the coordination of communications technology. Authors hope that this will promote research and development work as a system to introduce it. Finally, the authors wish to express their Hokuriku region of deep gratitude to the Ministry of Infrastructure Development Board and the Hokkaido Development Bureau, and transportation to help confirm their testing and the help system and testing of the construction work of everyone.