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The improved pure pursuit algorithm for automomous driving advanced system (改善型軌跡追蹤演算法應用於自動駕駛輔助系統)
  • 發布年度:2017
  • 主要類別:駕駛輔助
  • 次要類別:論文
  • Abstract—The pure pursuit algorithm is one of the hottest research fields of autonomous driving advanced system as well as a major means for realizing intelligent operating of autonomous driving advanced system in future. This paper presents a thorough research on GPS automatic navigation technology of autonomous driving advanced system considering that working conditions and field conditions for the vehicle are complex and that there is a high requirement on the precision of the driving path of the vehicle. The advanced pure pursuit algorithm with 2-degree polynomial function in the vehicle velocity and the shortest distance between the GPS trajectory and current vehicle position was studied and analyzed. The proposed algorithm could calibrate the heading and steering angle of the vehicle and reduce lateral error when the vehicle tracking ideal path. Experimental results show that the algorithm is more accurate than the traditional algorithm by improving 54.54%.


    Index Terms—autonomous driving advanced system; pure pursuit; 2-degree polynomial function