A path tracking algorithm of intelligent vehicle by preview strategy

Based on the characteristics of the intelligent vehicle during steering, this work designed a control system that is easy to be applied. This work built a dynamical model of vehicle by two-freedom model, in which the method of calculating the look-ahead distance is improved by the modification to preview strategy based on the pure pursuit tracking method, so that the vehicle can get close to the desired path smoothly. The controller is designed by a linear PD control method, which decreases the tracking error. To make sure that the process can get the desired steering angle to control the vehicle accurately, this work designed a PID closed-loop control method for steering angle at underlying control. In the end, the test proved the feasibility and effectiveness of the method. With this method, the dynamic characteristics of the controller and the adaptability can be improved.