基于纯追踪模型的路径跟踪改进算法

An Improved Algorithm Based on Pure Pursuit Model for Path Tracking

针对前视距离随车辆位置、速度变化而调整的问题,将模糊控制器与纯追踪算法相结合,把速度和航向偏角作为模糊控制器的输入量,利用驾驶经验制定模糊控制规则,输出前视距离,从而使前视距离得到动态调整,以达到理想的跟踪效果。在直线道路和折线道路上,对动态前视距离纯追踪算法和固定前视距离纯追踪算法进行仿真对比,结果表明改进的算法使得路径跟踪效果得到明显提高。

To lookahead distance of the pure pursuit algorithm,which is applied to path tracking for autonomous vehicles,affects obviously tracking results.The lookahead distance should be adjusted according to the change of the vehicle＇s position and velocity by combining the fuzzy controller with the pure pursuit algorithm.The fuzzy controller has two input variables and one output variable.Input variables are velocity and heading angle,and the output variable is lookahead distance.The fuzzy control rules are formulated by driving experiences.The fuzzy controller adjusts the lookahead distance to achieve the desired result.In the condition of straight or bend roads,the simulation results of the adaptive pure pursuit algorithm are compared with the nonadaptive one.Experiments show that the improved algorithm enhances the performance of path tracking.