基于“Pure Pursuit”自动驾驶汽车的路径跟踪控制

Track-tracking Controls of Autonomous Vehicle Based on Pure Pursuit

为了提高自动驾驶汽车路径跟踪控制中的可行性和稳定性,提出一种基于“Pure Pursuit”自动驾驶汽车的路径跟踪控制方法。借助某集团新能源汽车自动驾驶平台采集园区一条参考轨迹纬度值,并再将其转化为大地坐标值;建立自动驾驶汽车运动学模型,根据车速可利用Pure Pursuit算法确定前轮转角,基于前轮转角,通过Carsim与Simulink软件搭建路径跟踪控制联合仿真模型,分别对参考轨迹跟踪控制及跟踪误差进行了仿真分析;最后对所提出的控制方法进行了实车试验验证。研究结果表明:车速低于20 km/h,仿真轨迹和实车轨迹误差均小于0.4 m,最后试验结果与仿真结果基本一致;基于Pure Pursuit算法有效地实现了低速工况下自动驾驶汽车的路径跟踪。

In order to improve the feasibility and stability of the path-tracking control of autonomous vehicle,a path-tracking control of autonomous vehicle method based on“Pure Pursuit”was proposed.A reference track latitude value of the park was collected with the help of the autonomous driving platform of new energy vehicles of a group,and then converted into the ground coordinate values.The kinematics model of the autonomous vehicle was established,according to the current speed,and the Pure Pursuit algorithm was used to determine the front wheel corner,based on the front wheel corner,the co-simulation model of path tracking control was built through Carsim and Simulink software,the reference track tracking control and tracking error were simulated and analyzed respectively.Finally,the proposed control method was verified by the actual vehicle test.The results show that the vehicle speed is lower than 20 km/h,and the error of simulation track and real vehicle track is less than 0.4 m,and the test results are basically consistent with the simulation results.The algorithm based on Pure Pursuit proposed can effectively realize the path tracking under low-speed conditions.