基于Pure Pursuit算法的智能车路径跟踪  

Path Tracking Based on Pure Pursuit Algorithm for Intelligent Vehicles

作　　者：段建民[1] 杨晨[1] 石慧[1] 

机构地区：[1]北京工业大学城市交通学院,北京100124

出　　处：《北京工业大学学报》2016年第9期1301-1306,共6页Journal of Beijing University of Technology

基　　金：北京市属高等学校人才强教计划资助项目(038000543115025)

摘　　要：为了实现智能车路径跟踪,根据电子式助力转向系统的工作原理,对北京工业大学智能车BJUT-IV的转向系统进行设计.根据车辆参数和车速确定预瞄距离,并通过车辆与规划路径间存在的位置关系确定预瞄点,采用Pure Pursuit算法计算出前轮偏角控制量.建立车辆横向运动学模型,并在Matlab上进行了路径跟踪仿真实验.最后,与GPS相融合,根据GPS提供的车体位置信息,在校园规定线路对路径跟踪算法进行验证.实验结果表明:该算法跟踪偏差较小且前轮摆动幅度适中,确保了车辆在行驶过程中的稳定性.To achieve intelligent vehicle path tracking,an electric power steering( EPS) system as the foundation was modified and mounted on the steering system of Beijing University of Technology Intelligent Vehicle( BJUT-IV). According to parameters of the vehicle and the speed,the look-ahead distance was obtained. According to position and planning path of the vehicle,the preview point was selected. Using the Pure Pursuit algorithm,the vehicle lateral kinematics model and simulation on the Matlab were established. The intelligent vehicle control system PC software was designed. In the experiment,according to the location information provided by GPS,the unmanned experiment in the campus road was completed. Experimental results show that the algorithm tracking error is small,and the swing magnitude of the front is moderate to ensure the stability of the vehicle during driving.

关 键 词：智能车 电子式助力转向系统 横向控制 路径跟踪 

分 类 号：TP271.4[自动化与计算机技术—检测技术与自动化装置]