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This paper describes a simple and low-cost semiself-driving system which is constructed without cameras orimage processing. In addition, a position correction method ispresented by using a vehicle dynamics. Conventionally, selfdrivingvehicle is operated by various expensive environmentalrecognition sensors. It results in rise in prices of the vehicle,and also the complicated system with various sensors tends tobe a high possibility of malfunction. Therefore, we propose thesemi-self-driving system with a single type of global navigationsatellite system (GNSS) receiver and a digital compass, whichis based on a concept of a preceding vehicle controlled bya human manually and following vehicles which track to thepreceding vehicle automatically. Each vehicle corrects coordinateusing current velocity and heading angle from sensors. Severalexperimental and simulation results using our developed smallscalevehicles demonstrate the validity of the proposed systemand correction method.

Multiple Vehicles Semi-Self-driving System Using GNSS Coordinate Tracking under Relative Position with Correction Algorithm