When path tracking using look-ahead distance about the lateral error method and the velocity change method tracking comparison

Abstract

Method of improving the safety of autonomous vehicles are diverse. In particular, Path Tracking phase which is the last step and important to operate an autonomous vehicle. Method of Path tacking are diverse. Kinematic and dynamic methods is typically methods. In this study, Among Kinematic method, Pure pursuit is used by using the path tracking. Commonly pure pursuit is used to path tracking of mobile robots. Pure pursuit is selected target point and is path traced When selecting the tracking target point, the traveling speed is low or, in certain cases, to extract the following target point at a fixed distance. However, the speed and the path of autonomous vehicle is continually changing. Therefore, the selection method of tracking a target point of the fixed distance, can inhibit the behavioral stability of the vehicle. Also affect the path tracking performance. Therefore, changing of the tracking target point is advantageous.