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Erschienen in:

02.08.2022

Self-tuning Look-ahead Distance of Pure-pursuit Path-following Control for Autonomous Vehicles Using an Automated Curve Information Extraction Method

verfasst von: Azza Elsayed Bayoumi Ibrahim

Erschienen in: International Journal of Intelligent Transportation Systems Research | Ausgabe 3/2022

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Abstract

Autonomous driving vehicles have recently gained a lot of attention and are still a work in progress. The goal of this research is to improve the behavior of the autonomous vehicle for path tracking problems in which the steering performance degrades when travelling on curved paths. The pure pursuit controller is a good choice for solving this problem because of its simplicity, accurately, and speed of computation, but tuning its parameters to produce customized proper behavior requires a significant amount of effort. The autonomous computation of a curve identification procedure to manage the change in road curvature was offered as a novel idea for self-tuning of a look-ahead distance. I proposed a technique that splits the path into lines and circular-arcs portions first, and then extracts curve information that would be utilized to calculate the proper look-ahead distances later. Furthermore, the PI controller is used in conjunction with the pure pursuit controller to reduce the existing cross track error. To demonstrate the efficiency of the suggested method, the entire algorithms were implemented in the MATLAB/ Simulink environment for various path shapes. The results show that the novel strategy may greatly minimize lateral errors on curving roadways while maintaining acceptable tracking accuracy.

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Metadaten
Titel
Self-tuning Look-ahead Distance of Pure-pursuit Path-following Control for Autonomous Vehicles Using an Automated Curve Information Extraction Method
verfasst von
Azza Elsayed Bayoumi Ibrahim
Publikationsdatum
02.08.2022
Verlag
Springer US
Erschienen in
International Journal of Intelligent Transportation Systems Research / Ausgabe 3/2022
Print ISSN: 1348-8503
Elektronische ISSN: 1868-8659
DOI
https://doi.org/10.1007/s13177-022-00319-z

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