自动泊车路径纯跟踪算法应用研究

In order to realize the path tracking function of the automatic parking system and solve the problems of steering wheel shaking and tracking accuracy decrease due to select look-ahead distance improperly for the pure pursuit algorithm, an improved pure pursuit algorithm was proposed in this paper. Based on the calculation results of the traditional pure pursuit algorithm, a steering wheel angle correction algorithm with memory parameters was designed. The real vehicle experiments show that the method is suitable for automatic parking system, and a small look-ahead distance can be selected under applicable working conditions, and the steering wheel shaking problem can be solved for pure pursuit algorithm under small look-ahead distance, while ensuring the tracking accuracy.