Research on Pure Pursuit Path Tracking Algorithm (1)
In the afternoon, I mainly read a few papers
"Application Research of Pure Tracking Algorithm for Automatic Parking Path"
"Research on Unmanned Driving Path Tracking Algorithm Based on Pure Tracking Algorithm and Salp Optimization Algorithm"
"Path Tracking Control of Intelligent Vehicles Based on Adaptive PP and MPC"
First of all, it is not very clear in terms of formula derivation
The final formulas are almost the same, but it is best to push it by yourself to deepen your understanding
The pure tracking algorithm is actually
基于横向偏差a proportional controller, and the gain is greatly affected by the preview distance. The larger the preview distance, the smaller the gain. When a small preview distance is selected, due to the existence of overshoot and the change of path curvature, frequent steering of the vehicle will cause control振荡and poor comfort. When a large preview distance is selected, the vibration of the vehicle is reduced, but the control system ignores a part of the information of the reference path, resulting in a decrease in tracking accuracy
In addition, details such as the selection of preview points and the specific implementation process are still unclear.
The first step is expected to realize the co-simulation of CarSim and Simulink with pure tracking algorithm