Ribbon Model based path tracking method for autonomous land vehicle

To address the path tracking problem of autonomous land vehicle, a new vehicle-road model named “Ribbon Model” is constructed under the constraints of road width and vehicle geometry structure. A new vehicle-road evaluation algorithm is developed based on this model, and new path tracking controller is designed. The difficulties of preview distance selection and parameters tuning with speed of pure following controller are avoided in this controller. Performance of the novel method is verified by simulation and vehicle experiments.