外文翻譯--除雪機(jī)的自動(dòng)駕駛系統(tǒng)

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 使 的除雪機(jī)器,同時(shí)這些的 控制 被 一個(gè)工作的系統(tǒng)的系統(tǒng)。：雪旋轉(zhuǎn)移去，自動(dòng)的駕駛，ITS，通路記號(hào)，GIS，GPS在 冷的多雪部分的日本，雪通 機(jī) 的手 被從道路上除 保證 道路。為了保證機(jī) 雪 要除雪在道路上的currency1“的被除通，fifl 的控制 被 ，并且機(jī) 正確地操作。自動(dòng)的駕駛系統(tǒng)發(fā)展被fl 于旋轉(zhuǎn)的除雪機(jī)器：一種操作的 的一類型 類型除雪機(jī)”，已被發(fā)展為減少工作人人員除雪負(fù)擔(dān) 的保。發(fā)展雪移去被兩個(gè)工作人員操作： 使移去的一名話務(wù)員同時(shí)，控制的的一個(gè)助手。話務(wù)員使機(jī)器 于道路的控制 雪處，助手雪“雪進(jìn)機(jī)器的時(shí) 。除雪機(jī)器雪的部分” 。 的使 的部分自動(dòng)自動(dòng) 在操作工作 行中話務(wù)員 助手控制雪 。未來 一人操作。這報(bào)告 已被發(fā)展為自動(dòng)的駕駛系統(tǒng)的基 的 技術(shù)和控制技術(shù)，同時(shí)， 一種評(píng)價(jià)基于確證 的結(jié)果的系統(tǒng) 行的雪移去并且描述 一個(gè)工作的系統(tǒng)。自動(dòng)操系統(tǒng) 已被開發(fā)的自動(dòng)的駕駛系統(tǒng)使雪的除為自動(dòng) ，駕駛也為了話務(wù)員的務(wù)一。3.1 駕駛并且雪除的控制 旋轉(zhuǎn)自動(dòng)除雪機(jī)的駕駛的機(jī)制 同于正常的 進(jìn)和 部分被 系， 機(jī)制被安 ，這 在 。駕駛被確的 和被的時(shí) 轉(zhuǎn)換控制效的制一 活動(dòng)的 的 程。 這控制 被受整的約束影響的運(yùn)動(dòng)的一個(gè) 程代并且基于非 的控制理 。但 ，一共 15 頁 第 1 頁訂個(gè)雪移去側(cè)翼滑行，因?yàn)椤耙迫パr(shí)，作為雪筑堤圍攔受橫向的反應(yīng)力量影響被顯示 。小路滑動(dòng)使 下被描述的綜合的伺 機(jī)構(gòu)系統(tǒng)來將這“ 一場外部騷亂對(duì)待控制滑動(dòng)。除雪機(jī)部 除雪機(jī)除雪3.3 顯示駕駛機(jī)制除雪的一個(gè) 型。在未來， 子和對(duì)于 部 子距離和除雪的 接的 距離被L代，“ 代 程時(shí),駕駛的角度 除雪的半徑的一個(gè)弧R=L/tan a ?！?子的中fi點(diǎn)P的 程正 向速度矢量被代和正 向角度被代時(shí)，點(diǎn)P的運(yùn)動(dòng)的 程被寫 下。 （ ） 公式（1）被 便 行currency1反饋控制。從等式中義除學(xué)時(shí)駕駛的數(shù)量駕駛的角度中的 / 個(gè)。（2）在等式（2）中橫向滑動(dòng)將 考慮。為了除去 橫向的滑動(dòng)造的穩(wěn)currency1的偏差， 果綜合的伺 機(jī)構(gòu)系統(tǒng)被使 ，駕駛的數(shù)量被 下 程代（3）為了除去穩(wěn)currency1的偏差符號(hào)f 控制獲得，同時(shí)，基于公式（ ），f 代“例的獲得，f 代派生物獲得， f 代整的獲得。PID控制被 來 造系統(tǒng)共 15 頁 第 2 頁訂 協(xié)調(diào)系統(tǒng) 3.4 集伺 機(jī)構(gòu)系統(tǒng)控制塊 3.2 發(fā)現(xiàn)一種 為了 行自動(dòng)的駕駛的信息 要的 并且確 向駕駛。已被開發(fā)的系統(tǒng) 備兩種功： 指導(dǎo) 使 通路記號(hào)傳感器發(fā)現(xiàn)使GPS和GIS來發(fā)現(xiàn) 和駕駛的 。通路記號(hào)傳感器指導(dǎo) 一臺(tái)通路記號(hào)傳感器 為了使 作為先進(jìn)的運(yùn)輸系統(tǒng)( ITS )的部分被開發(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 歇地被埋在一個(gè)道路下的通路記號(hào)， 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) 的 程指引 的傳感器。這系統(tǒng)的兩種版本： 無電波 和 的 。（ ） 角度fl ，通路記號(hào) 的距離將 常的，但 ，道路的 和傳感器邊的要求被 。因 ，這系統(tǒng) 備兩臺(tái)行的傳感器，這 “通路記號(hào)安 被 道， 除雪機(jī)器傳 控制 行。 ：共 15 頁 第 3 頁訂 通路記號(hào)傳感器指導(dǎo) 對(duì)于 一 一的行的傳感器駕駛的控制， （第 邊）通 程為控制 要的橫向的 分和 的差 的 和m協(xié)調(diào)系統(tǒng) ( )除傳感器外要求 于記號(hào) 的 的信息發(fā)信號(hào) 被 量 協(xié)調(diào)系統(tǒng) f ( f f )接受。但 ， 兩臺(tái)行的傳感器(第 邊)，系統(tǒng)fl 橫向的 分和 程的 的差 的 和m通 兩協(xié)調(diào)系統(tǒng) ( )反對(duì)“傳 a a， 傳 下一個(gè)記號(hào)時(shí)，被 量的 和 協(xié)調(diào)系統(tǒng) f ( f f )的傳感器控制兩個(gè)傳感器信號(hào) ，這 駕駛控制被 行使記號(hào) 的 未 的。（ ）電波記號(hào)傳感器 了無電波 ，一個(gè) 在 上的傳感器部著道路傳送 臺(tái)H無電波 ， currency1“一臺(tái)無電波 記號(hào)( )“ 這轉(zhuǎn)， Hfi的fl 的一個(gè)信號(hào)。 在傳感器部的一個(gè)“ 的 “ 這無電波 發(fā)現(xiàn) 的 ( )。著 的運(yùn)動(dòng)的 向的高 價(jià)。 在中發(fā)現(xiàn) 通 通 基于在被兩感 的無電波 的“ 的力量的 的三角 fl 的距離橫向的“ 向 無電動(dòng)記號(hào) 無電波 記號(hào)傳感器（ ） 的記號(hào)傳感器 了 的 ， 記的” ”( )安 在地 下，”上安 一臺(tái) 的傳感器。分 的記號(hào)顯示將記號(hào)的中fi“ 最大度 力量對(duì)待的 。這 的 的部分( fi )和 度 向部分( )的 的度被 的傳感器和 記號(hào)發(fā)現(xiàn)被fl 的距離發(fā)現(xiàn),基于 約的fi 系的 程傳感器和記號(hào)。( )共 15 頁 第 4 頁訂 的記號(hào) fi 系 GPSGIS 發(fā)現(xiàn) 基于GPSGIS 的一個(gè)系統(tǒng)發(fā)現(xiàn) 的 通 旋轉(zhuǎn)的雪移去 控制操作 從一個(gè)GPS 被“ 的數(shù) 協(xié)調(diào)為了 被道路GIS 的道路協(xié)調(diào) 的數(shù)。（ ） 路GIS道路GIS 于道路 的結(jié)構(gòu)和通理的信息的一個(gè)數(shù)。為了開發(fā)這系統(tǒng)，旋轉(zhuǎn)的雪移去 程信旋轉(zhuǎn)的雪 的話務(wù)員移去雪通 動(dòng)息被 ，這 被處理作為GIS數(shù)。 展 的道路的被雪 除邊 ( )指引的 因?yàn)檠?除邊 常沿著道路的fl 人行道的控制，被使 的GIS數(shù) 控制數(shù)。道路GIS數(shù) （2）TK-GPSRTK GPS，高 度的 ( 點(diǎn)和 點(diǎn) ) 的差 半徑的力的一個(gè)系統(tǒng)，包括“ 的兩GPS，一個(gè) 一個(gè) 在運(yùn) 工 (在除雪機(jī))上。 的 傳送基于已“ 運(yùn) 工 的GPS數(shù)的 正信息。系統(tǒng)幾 行 時(shí) ，因?yàn)镚PS數(shù) Hfi的速度被 正。共 15 頁 第 5 頁訂 4.1 備一種自動(dòng)的駕駛 功的除雪機(jī) 確證的 除在一和 年 在 道使 備駕駛的控制系統(tǒng)的旋下的自動(dòng)的駕駛 的 和 一條 的道路( 速，橫向滑動(dòng))上的一個(gè)雪移去 的。轉(zhuǎn)的雪移去被 行。4.1 確證 的 （ ） 被機(jī)器移去除雪機(jī)器的分為大中小型 常被使 在 的公路上，正常的造部分地被 ( )。 （ ） 證的 程確證的 程包括 的 ， ，( R )， currency1( R )，這 在公路上”制條件下， 通路記號(hào) 和 。除雪的工作條件 的工作的些同， 工作 兩種速度被 ，公 和 公 。雪行被 備 “一個(gè)移去被 來 展除的部分的一條道路時(shí)，發(fā)生的工作 和橫向的滑動(dòng)。 程的 4.2 確證的 的結(jié)果證 通路記號(hào)著點(diǎn) 向 (無電波 和因?yàn)轳{駛的控制系統(tǒng)發(fā)共 15 頁 第 6 頁訂展 的一個(gè)系統(tǒng) 程，控制 從 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。 示從被 的 結(jié)果顯示橫向的偏差的數(shù)量。)指導(dǎo) 和GPSGIS 。這子展 的來，偏差和 的偏差的數(shù)量在 的 上 小的，但 兩個(gè) 在 上在高。 這 大 地 被 行的事 的一種結(jié)果在 的一條小的半徑的 中，大量的駕駛，并且雪 除 可造橫GPSGIS 優(yōu)于通路記號(hào) 。 因?yàn)?的 幾取得幾 Hfi的 時(shí) 和駕駛控制， 對(duì)作反應(yīng)減少偏差的數(shù)量橫向滑動(dòng)。 了 ，駕駛被延遲因?yàn)橄到y(tǒng) 發(fā)現(xiàn)沒通路記號(hào) 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 ， 被， ，除 傳感器 正橫向的滑動(dòng)外，“傳感器傳記號(hào)時(shí)，協(xié)調(diào)下一個(gè)記號(hào)( 程信息)。導(dǎo)致橫向的滑動(dòng)的分揭示作為這時(shí)被領(lǐng)進(jìn) ， (: 的 分) 沒 程信息的 ， 程信息的 ： 極端來 度的一大的 進(jìn)和接近個(gè)GPSGIS 。在 的 中的沒 距速度公 和 被 察。結(jié) 和未來挑戰(zhàn)已被確認(rèn)自動(dòng)的駕駛系統(tǒng)使 通路記號(hào)或者GPS的，GIS等等通除雪機(jī)取得正常的雪 除工作的一個(gè)一般地 的水平的控制。 但 ，為了 的工作的系統(tǒng)， 下挑戰(zhàn) 被解決。( ) GPSGIS 顯示發(fā)現(xiàn) 度 暫時(shí)在敞開的空 中落下。 “GPS 在一個(gè)狹窄的范圍中被集中時(shí)， 這發(fā)生。 同時(shí)，在 期 無電波 記號(hào) ，認(rèn)為 上的高的輸傳輸器的一種結(jié)果無 言的行為被 察。 要功“這 反常的操作的信號(hào)被生產(chǎn)時(shí)，沒干涉話務(wù)員 自動(dòng)地停止操作。( ) 為GPSGIS情況，靠通路 進(jìn)控制的 度 要通 進(jìn)通路記號(hào)的記號(hào) 協(xié)調(diào) 雪移去系統(tǒng)向 程信息。 每次系統(tǒng)傳 記號(hào)，記錄在每一記號(hào)上的通道 也分重要。( ) 進(jìn)一步 進(jìn)控制 度(減少偏差的數(shù)量)，努力量 諸 的騷亂橫向的滑動(dòng)，雪 除 等等在 雪 除工作的 型的細(xì)節(jié)的程度增加旋轉(zhuǎn)的雪移去 并且 行仿真 要雪移去。共 15 頁 第 7 頁訂 橫向的偏差(無電波 )在最近幾年，各種各 的已 運(yùn) 信息技術(shù)( IT ) 進(jìn) 設(shè)機(jī) 。 “時(shí)在些情況中看見，信息在這種情況中處理 被運(yùn) 于系統(tǒng)，除非 每一系統(tǒng)的橫向的差異獨(dú) 的操作(工作加速公 ， 傳感器的偏差的數(shù)量)在最近幾年，各種各 的已 運(yùn) 信息技術(shù)( IT ) 進(jìn) 設(shè)機(jī) 。 “時(shí)在些情況中看見，信息在這種情況中處理 被運(yùn) 于系統(tǒng)，除非的途在 時(shí)被 。 因?yàn)楸贿@項(xiàng) 發(fā)展的除雪機(jī)通路記號(hào)的新的道路基 設(shè)施，道路GIS數(shù)。同時(shí)，通信系統(tǒng)和通信 被 ，發(fā)展 ITS領(lǐng)域中的通信技術(shù)已被協(xié)調(diào)。 作者希望這研究發(fā)展將促進(jìn)作為一個(gè)工作的共 15 頁 第 8 頁訂系統(tǒng) 。最 ，作者希望向Huiu地達(dá) 的深的感激地基 設(shè)施的部的發(fā)展 和 道地的發(fā)展 ，和運(yùn)輸幫助確證的 和對(duì)于幫助系統(tǒng)和 的工作的 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. 共 15 頁 第 9 頁訂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 2 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 on behalf of the perspective of being the representative of , the point P of the movement equation can be written as follows. ( ) 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 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 equation was as follows on behalf of 共 15 頁 第 10 頁訂 (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 build3.2 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 m of ym and coordination system (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 f (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 m of ym and coordination through the two systems (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). 共 15 頁 第 11 頁訂 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. 共 15 頁 第 12 頁訂 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 共 15 頁 第 13 頁訂revealed at this time was led into the Figure 4.3, 2 (: 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 advanc